2025-09-20T20:05:22.493Z,1758398722.493 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-09-20T20:05:22.493Z,1758398722.493 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize.
2025-09-20T20:05:22.493Z,1758398722.493 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1
2025-09-20T20:05:22.493Z,1758398722.493 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize.
2025-09-20T20:05:22.577Z,1758398722.577 [CommandExec](IMPORTANT): got command restart logs
2025-09-20T20:05:22.954Z,1758398722.954 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-09-20T20:05:22.963Z,1758398722.963 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-09-20T20:05:30.332Z,1758398730.332 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:05:37.449Z,1758398737.449 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:05:37.513Z,1758398737.513 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:05:37.513Z,1758398737.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:05:37.764Z,1758398737.764 [DAT](INFO): DAT read: user:115>
2025-09-20T20:05:37.765Z,1758398737.765 [DAT](INFO): DAT read: Tx time:20:05:40.4033
2025-09-20T20:05:37.765Z,1758398737.765 [DAT](INFO): Ping request sent.
2025-09-20T20:05:37.765Z,1758398737.765 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:05:37.765Z,1758398737.765 [DAT](INFO): publishing transmit ping time
2025-09-20T20:05:37.766Z,1758398737.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-09-20T20:05:38.016Z,1758398738.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250953
2025-09-20T20:05:38.268Z,1758398738.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502810
2025-09-20T20:05:38.520Z,1758398738.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754939
2025-09-20T20:05:38.773Z,1758398738.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007421
2025-09-20T20:05:39.024Z,1758398739.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258669
2025-09-20T20:05:39.277Z,1758398739.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511435
2025-09-20T20:05:39.528Z,1758398739.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762861
2025-09-20T20:05:39.781Z,1758398739.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015606
2025-09-20T20:05:40.033Z,1758398740.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267568
2025-09-20T20:05:40.284Z,1758398740.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518807
2025-09-20T20:05:40.537Z,1758398740.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772262
2025-09-20T20:05:40.687Z,1758398740.687 [NAL9602](INFO): SBD MO Status=0, MOMSN=1942, MT Status=0, MTMSN=0
2025-09-20T20:05:40.688Z,1758398740.688 [NAL9602](INFO): No messages in MT queue
2025-09-20T20:05:40.789Z,1758398740.789 [DAT](INFO): DAT read: Rx Time:20:05:42.9689
2025-09-20T20:05:40.789Z,1758398740.789 [DAT](INFO): Rx dataTimestamp_ set to:1758398740.789212
2025-09-20T20:05:40.790Z,1758398740.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025203
2025-09-20T20:05:41.040Z,1758398741.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274677
2025-09-20T20:05:41.297Z,1758398741.297 [DAT](INFO): DAT read: 20:05:42.9689 LVL= 13872, 16209, 15858, 15043, AGC= 66, IDX= 34,-0.07, 2.358, 1.066, 2.600, 1.810, PHS= 0.651,-0.699, 0.746, RAW= 153.4, -10.0, CAL= 154.1, -11.7, ROT= 355.9, 11.7
2025-09-20T20:05:41.298Z,1758398741.298 [DAT](INFO): got valid direction response:
20:05:42.9689 LVL= 13872, 16209, 15858, 15043, AGC= 66, IDX= 34,-0.07, 2.358, 1.066, 2.600, 1.810, PHS= 0.651,-0.699, 0.746, RAW= 153.4, -10.0, CAL= 154.1, -11.7, ROT= 355.9, 11.7
2025-09-20T20:05:41.300Z,1758398741.300 [DAT](INFO): DAT read: Bearing 62.5, 0.5 (Local)
2025-09-20T20:05:41.300Z,1758398741.300 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.5, 0.5 (Local)
2025-09-20T20:05:41.301Z,1758398741.301 [DAT](INFO): DAT read: Range 11 to 50 : 121.1 m (Round-trip 161.5 ms) speed 0.5 m/s
2025-09-20T20:05:41.302Z,1758398741.302 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:05:41.303Z,1758398741.303 [DAT](INFO): direction in FSK: [0.976717,-0.070012,-0.202787]
2025-09-20T20:05:41.303Z,1758398741.303 [DAT](INFO): publishing direction and range info
2025-09-20T20:05:43.487Z,1758398743.487 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:05:52.951Z,1758398752.951 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:06:02.519Z,1758398762.519 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:06:11.100Z,1758398771.100 [NAL9602](INFO): Not Powering down - fast GPS
2025-09-20T20:06:12.417Z,1758398772.417 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:06:22.111Z,1758398782.111 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:06:27.677Z,1758398787.677 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 20.00 deg, mass-position -0.97 mm (2 active estimators).
2025-09-20T20:06:37.806Z,1758398797.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:06:38.040Z,1758398798.040 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:06:38.040Z,1758398798.040 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:06:38.293Z,1758398798.293 [DAT](INFO): DAT read: user:116>
2025-09-20T20:06:38.293Z,1758398798.293 [DAT](INFO): DAT read: Tx time:20:06:40.9032
2025-09-20T20:06:38.294Z,1758398798.294 [DAT](INFO): Ping request sent.
2025-09-20T20:06:38.294Z,1758398798.294 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:06:38.294Z,1758398798.294 [DAT](INFO): publishing transmit ping time
2025-09-20T20:06:38.295Z,1758398798.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751
2025-09-20T20:06:38.544Z,1758398798.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250175
2025-09-20T20:06:38.797Z,1758398798.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502823
2025-09-20T20:06:39.048Z,1758398799.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754238
2025-09-20T20:06:39.300Z,1758398799.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006075
2025-09-20T20:06:39.552Z,1758398799.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258662
2025-09-20T20:06:39.805Z,1758398799.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511268
2025-09-20T20:06:40.056Z,1758398800.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762182
2025-09-20T20:06:40.308Z,1758398800.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014464
2025-09-20T20:06:40.560Z,1758398800.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266387
2025-09-20T20:06:40.812Z,1758398800.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518261
2025-09-20T20:06:41.080Z,1758398801.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786314
2025-09-20T20:06:41.332Z,1758398801.332 [DAT](INFO): DAT read: Rx Time:20:06:43.4523
2025-09-20T20:06:41.333Z,1758398801.333 [DAT](INFO): Rx dataTimestamp_ set to:1758398801.332217
2025-09-20T20:06:41.333Z,1758398801.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039307
2025-09-20T20:06:41.584Z,1758398801.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290248
2025-09-20T20:06:41.841Z,1758398801.841 [DAT](INFO): DAT read: 20:06:43.4523 LVL= 21152, 24433, 21746, 19347, AGC= 65, IDX= 264, 0.08, 2.260, 1.817, 2.520, 0.457, PHS= 1.904, 1.405, 2.019, RAW= 160.1, -73.3, CAL= 162.4, -70.5, ROT= 347.6, 70.5
2025-09-20T20:06:41.842Z,1758398801.842 [DAT](INFO): got valid direction response:
20:06:43.4523 LVL= 21152, 24433, 21746, 19347, AGC= 65, IDX= 264, 0.08, 2.260, 1.817, 2.520, 0.457, PHS= 1.904, 1.405, 2.019, RAW= 160.1, -73.3, CAL= 162.4, -70.5, ROT= 347.6, 70.5
2025-09-20T20:06:41.844Z,1758398801.844 [DAT](INFO): DAT read: Bearing 8.2, 4.9 (Local)
2025-09-20T20:06:41.844Z,1758398801.844 [DAT](INFO): Local bearing/azimuth received:
Bearing 8.2, 4.9 (Local)
2025-09-20T20:06:41.846Z,1758398801.846 [DAT](INFO): DAT read: Range 11 to 50 : 108.7 m (Round-trip 145.0 ms) speed -0.1 m/s
2025-09-20T20:06:41.846Z,1758398801.846 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:06:41.847Z,1758398801.847 [DAT](INFO): direction in FSK: [0.326020,-0.071680,-0.942641]
2025-09-20T20:06:41.848Z,1758398801.848 [DAT](INFO): publishing direction and range info
2025-09-20T20:06:43.017Z,1758398803.017 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032723542838,350, 0.0,1512.9, 0
2025-09-20T20:06:53.239Z,1758398813.239 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:07:02.827Z,1758398822.827 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, +598, -17,A
2025-09-20T20:07:21.368Z,1758398841.368 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.259251
2025-09-20T20:07:22.371Z,1758398842.371 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:07:23.025Z,1758398843.025 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +53.35, +177.99-0.00, 0.00
2025-09-20T20:07:27.955Z,1758398847.955 [Radio_Surface](INFO): Powering down
2025-09-20T20:07:28.360Z,1758398848.360 [Radio_Surface](FAULT): LCB fault: Invalid Command. Hardware Overcurrent Shutdown. Current Limiter Activated.
2025-09-20T20:07:28.360Z,1758398848.360 [Radio_Surface] Hardware Fault, FailCount= 1
2025-09-20T20:07:28.360Z,1758398848.360 [Radio_Surface](ERROR): Hardware Fault
2025-09-20T20:07:28.510Z,1758398848.510 [CBIT](ERROR): Hardware Fault in component: Radio_Surface
2025-09-20T20:07:28.900Z,1758398848.900 [CBIT](INFO): Clearing failed state for component Radio_Surface
2025-09-20T20:07:28.900Z,1758398848.900 [Radio_Surface] No Fault, FailCount= 1
2025-09-20T20:07:29.168Z,1758398849.168 [Radio_Surface](INFO): Powering up
2025-09-20T20:07:34.419Z,1758398854.419 [Radio_Surface](INFO): Checking local IP, expecting subnet 10.89.11
2025-09-20T20:07:34.420Z,1758398854.420 [Radio_Surface](INFO): Found local IP address 10.89.11.2 for eth0
2025-09-20T20:07:35.227Z,1758398855.227 [Radio_Surface](INFO): Powering down
2025-09-20T20:07:37.975Z,1758398857.975 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:07:38.044Z,1758398858.044 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:07:38.044Z,1758398858.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:07:38.296Z,1758398858.296 [DAT](INFO): DAT read: user:117>
2025-09-20T20:07:38.297Z,1758398858.297 [DAT](INFO): DAT read: Tx time:20:07:40.9530
2025-09-20T20:07:38.297Z,1758398858.297 [DAT](INFO): Ping request sent.
2025-09-20T20:07:38.297Z,1758398858.297 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:07:38.297Z,1758398858.297 [DAT](INFO): publishing transmit ping time
2025-09-20T20:07:38.298Z,1758398858.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-09-20T20:07:38.548Z,1758398858.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250778
2025-09-20T20:07:38.801Z,1758398858.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503298
2025-09-20T20:07:39.052Z,1758398859.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754732
2025-09-20T20:07:39.304Z,1758398859.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007081
2025-09-20T20:07:39.556Z,1758398859.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259012
2025-09-20T20:07:39.808Z,1758398859.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510957
2025-09-20T20:07:40.062Z,1758398860.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764339
2025-09-20T20:07:40.312Z,1758398860.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014856
2025-09-20T20:07:40.567Z,1758398860.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270149
2025-09-20T20:07:40.820Z,1758398860.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522877
2025-09-20T20:07:41.073Z,1758398861.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775450
2025-09-20T20:07:41.324Z,1758398861.324 [DAT](INFO): DAT read: Rx Time:20:07:43.4561
2025-09-20T20:07:41.324Z,1758398861.324 [DAT](INFO): Rx dataTimestamp_ set to:1758398861.324155
2025-09-20T20:07:41.325Z,1758398861.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027839
2025-09-20T20:07:41.577Z,1758398861.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279678
2025-09-20T20:07:41.829Z,1758398861.829 [DAT](INFO): DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.0 m/s
2025-09-20T20:07:41.829Z,1758398861.829 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:07:42.841Z,1758398862.841 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 93, +82,A
2025-09-20T20:07:52.491Z,1758398872.491 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:07:53.495Z,1758398873.495 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-09-20T20:07:53.495Z,1758398873.495 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:08:03.047Z,1758398883.047 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD+48.47, +31 -1.04, 39.46, 0.00
2025-09-20T20:08:22.866Z,1758398902.866 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-32:WE,-32768,-32768,-32768,V
2025-09-20T20:08:23.615Z,1758398903.615 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:08:24.623Z,1758398904.623 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:08:38.057Z,1758398918.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:38.072Z,1758398918.072 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:38.072Z,1758398918.072 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:08:38.324Z,1758398918.324 [DAT](INFO): DAT read: user:118>
2025-09-20T20:08:38.325Z,1758398918.325 [DAT](INFO): DAT read: Tx time:20:08:40.9528
2025-09-20T20:08:38.325Z,1758398918.325 [DAT](INFO): Ping request sent.
2025-09-20T20:08:38.325Z,1758398918.325 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:08:38.325Z,1758398918.325 [DAT](INFO): publishing transmit ping time
2025-09-20T20:08:38.326Z,1758398918.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-09-20T20:08:38.576Z,1758398918.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250951
2025-09-20T20:08:38.828Z,1758398918.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984
2025-09-20T20:08:38.839Z,1758398918.839 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive] Stopped
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-09-20T20:08:38.840Z,1758398918.840 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-09-20T20:08:38.841Z,1758398918.841 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-09-20T20:08:38.841Z,1758398918.841 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-09-20T20:08:39.080Z,1758398919.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888
2025-09-20T20:08:39.255Z,1758398919.255 [lineCaptureHoming:RepeatHack] Stopped
2025-09-20T20:08:39.255Z,1758398919.255 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-09-20T20:08:39.255Z,1758398919.255 [lineCaptureHoming:RepeatHack:A] Stopped
2025-09-20T20:08:39.255Z,1758398919.255 [lineCaptureHoming:Lap] Running Loop=1
2025-09-20T20:08:39.256Z,1758398919.256 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-09-20T20:08:39.256Z,1758398919.256 [lineCaptureHoming:Lap:A] Running Loop=1
2025-09-20T20:08:39.332Z,1758398919.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007014
2025-09-20T20:08:39.584Z,1758398919.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258880
2025-09-20T20:08:39.623Z,1758398919.623 [lineCaptureHoming:Lap:A] Stopped
2025-09-20T20:08:39.623Z,1758398919.623 [lineCaptureHoming:Lap:B] Running Loop=1
2025-09-20T20:08:39.623Z,1758398919.623 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-09-20T20:08:39.836Z,1758398919.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511182
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture] Running Loop=1
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-20T20:08:40.082Z,1758398920.082 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-09-20T20:08:40.083Z,1758398920.083 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-20T20:08:40.084Z,1758398920.084 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-20T20:08:40.084Z,1758398920.084 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-20T20:08:40.084Z,1758398920.084 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-20T20:08:40.084Z,1758398920.084 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-09-20T20:08:40.084Z,1758398920.084 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-20T20:08:40.084Z,1758398920.084 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-20T20:08:40.085Z,1758398920.085 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-09-20T20:08:40.085Z,1758398920.085 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-09-20T20:08:40.085Z,1758398920.085 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-09-20T20:08:40.085Z,1758398920.085 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-09-20T20:08:40.085Z,1758398920.085 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-09-20T20:08:40.086Z,1758398920.086 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-09-20T20:08:40.086Z,1758398920.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-20T20:08:40.086Z,1758398920.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-20T20:08:40.086Z,1758398920.086 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-20T20:08:40.088Z,1758398920.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763070
2025-09-20T20:08:40.089Z,1758398920.089 [lineCaptureHoming:LineCapture:A] Stopped
2025-09-20T20:08:40.089Z,1758398920.089 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-09-20T20:08:40.340Z,1758398920.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014891
2025-09-20T20:08:40.457Z,1758398920.457 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-09-20T20:08:40.457Z,1758398920.457 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-20T20:08:40.457Z,1758398920.457 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-09-20T20:08:40.458Z,1758398920.458 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 74.199997 m (mode 0.000000 count ).
2025-09-20T20:08:40.459Z,1758398920.459 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-09-20T20:08:40.459Z,1758398920.459 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-09-20T20:08:40.462Z,1758398920.462 [lineCaptureHoming:LineCapture:B] Stopped
2025-09-20T20:08:40.462Z,1758398920.462 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-09-20T20:08:40.592Z,1758398920.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266850
2025-09-20T20:08:40.837Z,1758398920.837 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-09-20T20:08:40.838Z,1758398920.838 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-09-20T20:08:40.838Z,1758398920.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:40.844Z,1758398920.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519038
2025-09-20T20:08:40.856Z,1758398920.856 [lineCaptureHoming:LineCapture:D] Stopped
2025-09-20T20:08:40.856Z,1758398920.856 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-09-20T20:08:41.096Z,1758398921.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871
2025-09-20T20:08:41.291Z,1758398921.291 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-09-20T20:08:41.292Z,1758398921.292 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-09-20T20:08:41.294Z,1758398921.294 [lineCaptureHoming:LineCapture:E] Stopped
2025-09-20T20:08:41.294Z,1758398921.294 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-09-20T20:08:41.348Z,1758398921.348 [DAT](INFO): DAT read: Rx Time:20:08:43.4765
2025-09-20T20:08:41.348Z,1758398921.348 [DAT](INFO): Rx dataTimestamp_ set to:1758398921.348218
2025-09-20T20:08:41.349Z,1758398921.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024003
2025-09-20T20:08:41.600Z,1758398921.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274968
2025-09-20T20:08:41.652Z,1758398921.652 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-09-20T20:08:41.653Z,1758398921.653 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-20T20:08:41.653Z,1758398921.653 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-09-20T20:08:41.653Z,1758398921.653 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-20T20:08:41.655Z,1758398921.655 [lineCaptureHoming:LineCapture:F] Stopped
2025-09-20T20:08:41.655Z,1758398921.655 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-09-20T20:08:41.655Z,1758398921.655 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-09-20T20:08:41.656Z,1758398921.656 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-09-20T20:08:41.657Z,1758398921.657 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-09-20T20:08:41.658Z,1758398921.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-20T20:08:41.659Z,1758398921.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-09-20T20:08:41.659Z,1758398921.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-09-20T20:08:41.659Z,1758398921.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-20T20:08:41.659Z,1758398921.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-20T20:08:41.660Z,1758398921.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-09-20T20:08:41.852Z,1758398921.852 [DAT](INFO): DAT read: $Error in header
2025-09-20T20:08:41.852Z,1758398921.852 [DAT](INFO): Received a bad header
2025-09-20T20:08:41.863Z,1758398921.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538202
2025-09-20T20:08:42.104Z,1758398922.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779067
2025-09-20T20:08:42.118Z,1758398922.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-09-20T20:08:42.118Z,1758398922.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T20:08:42.119Z,1758398922.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-09-20T20:08:42.127Z,1758398922.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-09-20T20:08:42.128Z,1758398922.128 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-09-20T20:08:42.129Z,1758398922.129 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-09-20T20:08:42.129Z,1758398922.129 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-09-20T20:08:42.130Z,1758398922.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.782925 m.
2025-09-20T20:08:42.356Z,1758398922.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031000
2025-09-20T20:08:42.608Z,1758398922.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282877
2025-09-20T20:08:42.860Z,1758398922.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534959
2025-09-20T20:08:42.906Z,1758398922.906 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:42.952Z,1758398922.952 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-20T20:08:43.072Z,1758398923.072 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-20T20:08:43.112Z,1758398923.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786878
2025-09-20T20:08:43.365Z,1758398923.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039582
2025-09-20T20:08:43.616Z,1758398923.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290782
2025-09-20T20:08:43.868Z,1758398923.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542949
2025-09-20T20:08:44.120Z,1758398924.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795135
2025-09-20T20:08:44.373Z,1758398924.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047691
2025-09-20T20:08:44.624Z,1758398924.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298968
2025-09-20T20:08:44.876Z,1758398924.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550998
2025-09-20T20:08:45.128Z,1758398925.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802941
2025-09-20T20:08:45.317Z,1758398925.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:45.380Z,1758398925.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054976
2025-09-20T20:08:45.632Z,1758398925.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306887
2025-09-20T20:08:45.884Z,1758398925.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558851
2025-09-20T20:08:46.136Z,1758398926.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811038
2025-09-20T20:08:46.388Z,1758398926.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062934
2025-09-20T20:08:46.640Z,1758398926.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314903
2025-09-20T20:08:46.892Z,1758398926.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567054
2025-09-20T20:08:46.952Z,1758398926.952 [DockingStepper](INFO): Changing to mode: 3
2025-09-20T20:08:47.144Z,1758398927.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818837
2025-09-20T20:08:47.339Z,1758398927.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:47.396Z,1758398927.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.071429
2025-09-20T20:08:47.648Z,1758398927.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322942
2025-09-20T20:08:47.900Z,1758398927.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575219
2025-09-20T20:08:48.156Z,1758398928.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830965
2025-09-20T20:08:48.409Z,1758398928.409 [DAT](INFO): Reached modem response timeout
2025-09-20T20:08:48.409Z,1758398928.409 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:48.409Z,1758398928.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:08:48.660Z,1758398928.660 [DAT](INFO): DAT read:
2025-09-20T20:08:48.660Z,1758398928.660 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:48.912Z,1758398928.912 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:49.164Z,1758398929.164 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:49.341Z,1758398929.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:49.417Z,1758398929.417 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:49.668Z,1758398929.668 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:49.920Z,1758398929.920 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:50.174Z,1758398930.174 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:50.424Z,1758398930.424 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:50.676Z,1758398930.676 [DAT](INFO): DAT read: Response Not Received
2025-09-20T20:08:50.676Z,1758398930.676 [DAT](INFO): response not received
2025-09-20T20:08:50.677Z,1758398930.677 [DAT](INFO): DAT read: user:120>Tx time:20:08:53.4028
2025-09-20T20:08:50.678Z,1758398930.678 [DAT](ERROR): No response from remote modem.
2025-09-20T20:08:50.678Z,1758398930.678 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:50.678Z,1758398930.678 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:08:50.928Z,1758398930.928 [DAT](INFO): DAT read:
2025-09-20T20:08:50.929Z,1758398930.929 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:51.182Z,1758398931.182 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:51.382Z,1758398931.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:51.435Z,1758398931.435 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:51.688Z,1758398931.688 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:51.940Z,1758398931.940 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:52.194Z,1758398932.194 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:52.444Z,1758398932.444 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:52.696Z,1758398932.696 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:52.948Z,1758398932.948 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:52.957Z,1758398932.957 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-09-20T20:08:53.202Z,1758398933.202 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:53.452Z,1758398933.452 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:53.704Z,1758398933.704 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:53.773Z,1758398933.773 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:53.956Z,1758398933.956 [DAT](INFO): DAT read: Rx Time:20:08:56.0103
2025-09-20T20:08:53.956Z,1758398933.956 [DAT](INFO): Rx dataTimestamp_ set to:1758398933.956167
2025-09-20T20:08:53.957Z,1758398933.957 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:54.211Z,1758398934.211 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:54.480Z,1758398934.480 [DAT](INFO): DAT read: 20:08:56.0103 LVL= 27920, 27377, 26450, 19443, AGC= 68, IDX= 270, 0.47, 0.044, 0.870, 0.389,-0.593, PHS= 0.739, 1.508, 0.938, RAW= 315.5, -58.5, CAL= 311.3, -60.5, ROT= 198.7, 60.5
2025-09-20T20:08:54.481Z,1758398934.481 [DAT](INFO): got valid direction response:
20:08:56.0103 LVL= 27920, 27377, 26450, 19443, AGC= 68, IDX= 270, 0.47, 0.044, 0.870, 0.389,-0.593, PHS= 0.739, 1.508, 0.938, RAW= 315.5, -58.5, CAL= 311.3, -60.5, ROT= 198.7, 60.5
2025-09-20T20:08:54.482Z,1758398934.482 [DAT](INFO): DAT read: Range 11 to 50 : 152.5 m (Round-trip 203.4 ms) speed -0.5 m/s
2025-09-20T20:08:54.483Z,1758398934.483 [DAT](INFO): DAT read: user:121>Tx time:20:08:57.1028
2025-09-20T20:08:54.484Z,1758398934.484 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:08:54.485Z,1758398934.485 [DAT](INFO): direction in FSK: [-0.466429,-0.157877,-0.870356]
2025-09-20T20:08:54.485Z,1758398934.485 [DAT](INFO): publishing direction and range info
2025-09-20T20:08:54.489Z,1758398934.489 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:54.489Z,1758398934.489 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:08:54.713Z,1758398934.713 [DAT](INFO): DAT read:
2025-09-20T20:08:54.713Z,1758398934.713 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:54.740Z,1758398934.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:08:54.964Z,1758398934.964 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:55.218Z,1758398935.218 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:55.468Z,1758398935.468 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:55.720Z,1758398935.720 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:55.743Z,1758398935.743 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:08:55.793Z,1758398935.793 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:55.972Z,1758398935.972 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:56.226Z,1758398936.226 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:56.476Z,1758398936.476 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:56.728Z,1758398936.728 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:56.980Z,1758398936.980 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:57.234Z,1758398937.234 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:57.484Z,1758398937.484 [DAT](INFO): DAT read: Rx Time:20:08:59.6746
2025-09-20T20:08:57.485Z,1758398937.485 [DAT](INFO): Rx dataTimestamp_ set to:1758398937.484345
2025-09-20T20:08:57.485Z,1758398937.485 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:57.736Z,1758398937.736 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:57.817Z,1758398937.817 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:08:57.994Z,1758398937.994 [DAT](INFO): DAT read: 20:08:59.6746 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 65,-0.23,-1.353, 0.386,-1.243,-0.826, PHS=-0.425, 1.257,-0.461, RAW= 331.0, -4.4, CAL= 330.4, -7.4, ROT= 179.6, 7.4
2025-09-20T20:08:57.995Z,1758398937.995 [DAT](INFO): got valid direction response:
20:08:59.6746 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 65,-0.23,-1.353, 0.386,-1.243,-0.826, PHS=-0.425, 1.257,-0.461, RAW= 331.0, -4.4, CAL= 330.4, -7.4, ROT= 179.6, 7.4
2025-09-20T20:08:57.996Z,1758398937.996 [DAT](INFO): DAT read: $Error in header
2025-09-20T20:08:57.996Z,1758398937.996 [DAT](INFO): Received a bad header
2025-09-20T20:08:58.007Z,1758398938.007 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-20T20:08:58.008Z,1758398938.008 [DAT](INFO): direction in FSK: [-0.991647,0.006923,-0.128796]
2025-09-20T20:08:58.011Z,1758398938.011 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:58.242Z,1758398938.242 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:58.492Z,1758398938.492 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:58.745Z,1758398938.745 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:58.996Z,1758398938.996 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:59.250Z,1758398939.250 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:59.502Z,1758398939.502 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:59.752Z,1758398939.752 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:08:59.841Z,1758398939.841 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:00.004Z,1758398940.004 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:00.257Z,1758398940.257 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:00.508Z,1758398940.508 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:00.760Z,1758398940.760 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:01.012Z,1758398941.012 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:01.264Z,1758398941.264 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:01.516Z,1758398941.516 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:01.768Z,1758398941.768 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:02.020Z,1758398942.020 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:02.248Z,1758398942.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:02.272Z,1758398942.272 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:02.524Z,1758398942.524 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:02.776Z,1758398942.776 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:03.028Z,1758398943.028 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:03.280Z,1758398943.280 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:03.532Z,1758398943.532 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:03.784Z,1758398943.784 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:04.036Z,1758398944.036 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:04.271Z,1758398944.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:04.288Z,1758398944.288 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:04.540Z,1758398944.540 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:04.792Z,1758398944.792 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:05.044Z,1758398945.044 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:05.296Z,1758398945.296 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:05.548Z,1758398945.548 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:05.800Z,1758398945.800 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:06.052Z,1758398946.052 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:06.286Z,1758398946.286 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:06.304Z,1758398946.304 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:06.556Z,1758398946.556 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:06.810Z,1758398946.810 [DAT](INFO): DAT read: Response Not Received
2025-09-20T20:09:06.810Z,1758398946.810 [DAT](INFO): response not received
2025-09-20T20:09:06.811Z,1758398946.811 [DAT](INFO): DAT read: Tx time:20:09:09.5528
2025-09-20T20:09:06.811Z,1758398946.811 [DAT](INFO): Ping request sent.
2025-09-20T20:09:06.812Z,1758398946.812 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:09:06.812Z,1758398946.812 [DAT](INFO): publishing transmit ping time
2025-09-20T20:09:08.313Z,1758398948.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:08.320Z,1758398948.320 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:08.320Z,1758398948.320 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:08.320Z,1758398948.320 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:08.572Z,1758398948.572 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:08.572Z,1758398948.572 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:08.572Z,1758398948.572 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:08.824Z,1758398948.824 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:08.825Z,1758398948.825 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:08.825Z,1758398948.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:09.076Z,1758398949.076 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:09.076Z,1758398949.076 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:09.076Z,1758398949.076 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:09.328Z,1758398949.328 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:09.328Z,1758398949.328 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:09.328Z,1758398949.328 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:09.580Z,1758398949.580 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:09.581Z,1758398949.581 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:09.581Z,1758398949.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:09.832Z,1758398949.832 [DAT](INFO): DAT read: Rx Time:20:09:12.0922
2025-09-20T20:09:09.833Z,1758398949.833 [DAT](INFO): Rx dataTimestamp_ set to:1758398949.832234
2025-09-20T20:09:09.833Z,1758398949.833 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:09.833Z,1758398949.833 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:09.833Z,1758398949.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:10.084Z,1758398950.084 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:10.084Z,1758398950.084 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:10.084Z,1758398950.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:10.338Z,1758398950.338 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:10.338Z,1758398950.338 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:10.339Z,1758398950.339 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:10.386Z,1758398950.386 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:10.593Z,1758398950.593 [DAT](INFO): DAT read: 20:09:12.0922 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 118, 0.29,-2.809,-1.192,-3.018,-2.378, PHS=-0.328, 1.231,-0.683, RAW= 340.0, -2.5, CAL= 339.6, -5.4, ROT= 170.4, 5.4
2025-09-20T20:09:10.594Z,1758398950.594 [DAT](INFO): got valid direction response:
20:09:12.0922 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 118, 0.29,-2.809,-1.192,-3.018,-2.378, PHS=-0.328, 1.231,-0.683, RAW= 340.0, -2.5, CAL= 339.6, -5.4, ROT= 170.4, 5.4
2025-09-20T20:09:10.595Z,1758398950.595 [DAT](INFO): DAT read: Bearing 51.4, 23.3 (Local)
2025-09-20T20:09:10.596Z,1758398950.596 [DAT](INFO): Local bearing/azimuth received:
Bearing 51.4, 23.3 (Local)
2025-09-20T20:09:10.597Z,1758398950.597 [DAT](INFO): DAT read: Range 11 to 50 : 101.4 m (Round-trip 135.3 ms) speed -0.4 m/s
2025-09-20T20:09:10.598Z,1758398950.598 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T20:09:10.598Z,1758398950.598 [DAT](INFO): direction in FSK: [-0.981620,0.166029,-0.094108]
2025-09-20T20:09:10.599Z,1758398950.599 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:10.602Z,1758398950.602 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:10.602Z,1758398950.602 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:10.602Z,1758398950.602 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:10.841Z,1758398950.841 [DAT](INFO): DAT read:
2025-09-20T20:09:10.842Z,1758398950.842 [DAT](INFO): DAT read: Tx time:20:09:13.5028
2025-09-20T20:09:10.842Z,1758398950.842 [DAT](INFO): Ping request sent.
2025-09-20T20:09:10.842Z,1758398950.842 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:09:10.842Z,1758398950.842 [DAT](INFO): publishing transmit ping time
2025-09-20T20:09:10.843Z,1758398950.843 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001126
2025-09-20T20:09:11.092Z,1758398951.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249833
2025-09-20T20:09:11.344Z,1758398951.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501743
2025-09-20T20:09:11.596Z,1758398951.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754140
2025-09-20T20:09:11.848Z,1758398951.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005834
2025-09-20T20:09:12.100Z,1758398952.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257740
2025-09-20T20:09:12.358Z,1758398952.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.515246
2025-09-20T20:09:12.608Z,1758398952.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765768
2025-09-20T20:09:12.814Z,1758398952.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:12.862Z,1758398952.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019522
2025-09-20T20:09:13.112Z,1758398953.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269772
2025-09-20T20:09:13.161Z,1758398953.161 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 101.40 m. Transitioning docking module to standby.
2025-09-20T20:09:13.364Z,1758398953.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522158
2025-09-20T20:09:13.616Z,1758398953.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774307
2025-09-20T20:09:13.632Z,1758398953.632 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T20:09:13.869Z,1758398953.869 [DAT](INFO): DAT read: Rx Time:20:09:16.0434
2025-09-20T20:09:13.870Z,1758398953.870 [DAT](INFO): Rx dataTimestamp_ set to:1758398953.869252
2025-09-20T20:09:13.870Z,1758398953.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027916
2025-09-20T20:09:14.120Z,1758398954.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277813
2025-09-20T20:09:14.381Z,1758398954.381 [DAT](INFO): DAT read: 20:09:16.0434 LVL= 31920, 28049, 32754, 32755, AGC= 68, IDX= 450,-0.36,-1.277, 0.342,-1.576,-0.884, PHS=-0.291, 1.271,-0.736, RAW= 342.2, -2.7, CAL= 341.8, -5.7, ROT= 168.2, 5.7
2025-09-20T20:09:14.383Z,1758398954.383 [DAT](INFO): got valid direction response:
20:09:16.0434 LVL= 31920, 28049, 32754, 32755, AGC= 68, IDX= 450,-0.36,-1.277, 0.342,-1.576,-0.884, PHS=-0.291, 1.271,-0.736, RAW= 342.2, -2.7, CAL= 341.8, -5.7, ROT= 168.2, 5.7
2025-09-20T20:09:14.383Z,1758398954.383 [DAT](INFO): DAT read: $Error in header
2025-09-20T20:09:14.384Z,1758398954.384 [DAT](INFO): Received a bad header
2025-09-20T20:09:14.395Z,1758398954.395 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-20T20:09:14.396Z,1758398954.396 [DAT](INFO): direction in FSK: [-0.974027,0.203485,-0.099320]
2025-09-20T20:09:14.399Z,1758398954.399 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:14.399Z,1758398954.399 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:14.399Z,1758398954.399 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:14.624Z,1758398954.624 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:14.624Z,1758398954.624 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:14.624Z,1758398954.624 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:14.877Z,1758398954.877 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:14.877Z,1758398954.877 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:14.877Z,1758398954.877 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:15.128Z,1758398955.128 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:15.128Z,1758398955.128 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:15.128Z,1758398955.128 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:15.193Z,1758398955.193 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:15.380Z,1758398955.380 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:15.380Z,1758398955.380 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:15.380Z,1758398955.380 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:15.632Z,1758398955.632 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:15.632Z,1758398955.632 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:15.632Z,1758398955.632 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:15.884Z,1758398955.884 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:15.884Z,1758398955.884 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:15.884Z,1758398955.884 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:16.136Z,1758398956.136 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:16.136Z,1758398956.136 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:16.136Z,1758398956.136 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:16.388Z,1758398956.388 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:16.388Z,1758398956.388 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:16.388Z,1758398956.388 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:16.640Z,1758398956.640 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:16.640Z,1758398956.640 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:16.640Z,1758398956.640 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:16.892Z,1758398956.892 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:16.892Z,1758398956.892 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:16.892Z,1758398956.892 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:17.144Z,1758398957.144 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:17.144Z,1758398957.144 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:17.144Z,1758398957.144 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:17.198Z,1758398957.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:17.396Z,1758398957.396 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:17.396Z,1758398957.396 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:17.396Z,1758398957.396 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:17.648Z,1758398957.648 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:17.648Z,1758398957.648 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:17.648Z,1758398957.648 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:17.900Z,1758398957.900 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:17.900Z,1758398957.900 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:17.900Z,1758398957.900 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:18.152Z,1758398958.152 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:18.152Z,1758398958.152 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:18.152Z,1758398958.152 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:18.404Z,1758398958.404 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:18.404Z,1758398958.404 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:18.404Z,1758398958.404 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:18.656Z,1758398958.656 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:18.656Z,1758398958.656 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:18.656Z,1758398958.656 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:18.908Z,1758398958.908 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:18.908Z,1758398958.908 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:18.908Z,1758398958.908 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:19.160Z,1758398959.160 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:19.160Z,1758398959.160 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:19.160Z,1758398959.160 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:19.235Z,1758398959.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:19.412Z,1758398959.412 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:19.412Z,1758398959.412 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:19.412Z,1758398959.412 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:19.661Z,1758398959.661 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-09-20T20:09:19.664Z,1758398959.664 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:19.664Z,1758398959.664 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:19.664Z,1758398959.664 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:19.916Z,1758398959.916 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:19.916Z,1758398959.916 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:19.916Z,1758398959.916 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:20.034Z,1758398960.034 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-09-20T20:09:20.034Z,1758398960.034 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-09-20T20:09:20.034Z,1758398960.034 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-09-20T20:09:20.168Z,1758398960.168 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:20.168Z,1758398960.168 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:20.168Z,1758398960.168 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:20.420Z,1758398960.420 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:20.420Z,1758398960.420 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:20.420Z,1758398960.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:20.442Z,1758398960.442 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-09-20T20:09:20.442Z,1758398960.442 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-09-20T20:09:20.442Z,1758398960.442 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-09-20T20:09:20.672Z,1758398960.672 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:09:20.672Z,1758398960.672 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:09:20.672Z,1758398960.672 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:09:20.875Z,1758398960.875 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-09-20T20:09:20.875Z,1758398960.875 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-20T20:09:20.875Z,1758398960.875 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-09-20T20:09:20.875Z,1758398960.875 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-09-20T20:09:20.876Z,1758398960.876 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-20T20:09:20.924Z,1758398960.924 [DAT](INFO): Reached modem response timeout
2025-09-20T20:09:20.924Z,1758398960.924 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:20.924Z,1758398960.924 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:21.176Z,1758398961.176 [DAT](INFO): DAT read:
2025-09-20T20:09:21.176Z,1758398961.176 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:21.245Z,1758398961.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:21.246Z,1758398961.246 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-20T20:09:21.247Z,1758398961.247 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-09-20T20:09:21.248Z,1758398961.248 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-09-20T20:09:21.248Z,1758398961.248 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-09-20T20:09:21.248Z,1758398961.248 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-09-20T20:09:21.248Z,1758398961.248 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-09-20T20:09:21.249Z,1758398961.249 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-09-20T20:09:21.249Z,1758398961.249 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-20T20:09:21.249Z,1758398961.249 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-09-20T20:09:21.249Z,1758398961.249 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 101.400002 m
2025-09-20T20:09:21.249Z,1758398961.249 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-09-20T20:09:21.250Z,1758398961.250 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-09-20T20:09:21.250Z,1758398961.250 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg )
2025-09-20T20:09:21.251Z,1758398961.251 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-09-20T20:09:21.251Z,1758398961.251 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-09-20T20:09:21.251Z,1758398961.251 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-09-20T20:09:21.252Z,1758398961.252 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630
2025-09-20T20:09:21.428Z,1758398961.428 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:21.680Z,1758398961.680 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:21.686Z,1758398961.686 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630
2025-09-20T20:09:21.704Z,1758398961.704 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-09-20T20:09:21.704Z,1758398961.704 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-20T20:09:21.704Z,1758398961.704 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-09-20T20:09:21.704Z,1758398961.704 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-09-20T20:09:21.932Z,1758398961.932 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:22.046Z,1758398962.046 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-20T20:09:22.046Z,1758398962.046 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-20T20:09:22.046Z,1758398962.046 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-09-20T20:09:22.048Z,1758398962.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-20T20:09:22.048Z,1758398962.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T20:09:22.048Z,1758398962.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-09-20T20:09:22.049Z,1758398962.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-20T20:09:22.050Z,1758398962.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-20T20:09:22.050Z,1758398962.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-09-20T20:09:22.050Z,1758398962.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-09-20T20:09:22.050Z,1758398962.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-09-20T20:09:22.050Z,1758398962.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-09-20T20:09:22.051Z,1758398962.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-09-20T20:09:22.051Z,1758398962.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-09-20T20:09:22.051Z,1758398962.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-09-20T20:09:22.051Z,1758398962.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-09-20T20:09:22.051Z,1758398962.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-09-20T20:09:22.052Z,1758398962.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-09-20T20:09:22.052Z,1758398962.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-09-20T20:09:22.052Z,1758398962.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-09-20T20:09:22.052Z,1758398962.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-09-20T20:09:22.052Z,1758398962.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-09-20T20:09:22.053Z,1758398962.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-20T20:09:22.053Z,1758398962.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-09-20T20:09:22.054Z,1758398962.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00.
2025-09-20T20:09:22.054Z,1758398962.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-09-20T20:09:22.054Z,1758398962.054 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-09-20T20:09:22.054Z,1758398962.054 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-09-20T20:09:22.054Z,1758398962.054 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-09-20T20:09:22.055Z,1758398962.055 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-09-20T20:09:22.055Z,1758398962.055 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-09-20T20:09:22.055Z,1758398962.055 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-09-20T20:09:22.071Z,1758398962.071 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-09-20T20:09:22.071Z,1758398962.071 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-09-20T20:09:22.071Z,1758398962.071 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-09-20T20:09:22.184Z,1758398962.184 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:22.436Z,1758398962.436 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:22.464Z,1758398962.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 101.400002 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-09-20T20:09:22.467Z,1758398962.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.080124 m,
bearing: 244.074858 deg,
lat: 36.779314 deg,
lon: -121.859610 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-09-20T20:09:22.484Z,1758398962.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:22.486Z,1758398962.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 103.722008 m,
bearing: 244.793152 deg,
approach rate: nan m/s,
LOS rate: nan deg/s,
cmd heading: 78.667810 deg,
new cmd heading: 244.793152 deg.
2025-09-20T20:09:22.487Z,1758398962.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272447 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:22.535Z,1758398962.535 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-09-20T20:09:22.536Z,1758398962.536 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-09-20T20:09:22.689Z,1758398962.689 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:22.903Z,1758398962.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:22.905Z,1758398962.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 103.785645 m,
bearing: 244.784769 deg,
approach rate: 0.144621 m/s,
LOS rate: nan deg/s,
cmd heading: 244.793160 deg,
new cmd heading: 244.784769 deg.
2025-09-20T20:09:22.906Z,1758398962.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272300 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:22.940Z,1758398962.940 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:23.192Z,1758398963.192 [DAT](INFO): DAT read: Response Not Received
2025-09-20T20:09:23.192Z,1758398963.192 [DAT](INFO): response not received
2025-09-20T20:09:23.193Z,1758398963.193 [DAT](INFO): DAT read: user:124>Tx time:20:09:25.9528
2025-09-20T20:09:23.193Z,1758398963.193 [DAT](ERROR): No response from remote modem.
2025-09-20T20:09:23.194Z,1758398963.194 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:23.194Z,1758398963.194 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:23.279Z,1758398963.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:23.281Z,1758398963.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:23.288Z,1758398963.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 103.841278 m,
bearing: 244.777507 deg,
approach rate: 0.146781 m/s,
LOS rate: nan deg/s,
cmd heading: 244.784773 deg,
new cmd heading: 244.777507 deg.
2025-09-20T20:09:23.289Z,1758398963.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272173 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:23.376Z,1758398963.376 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-20T20:09:23.444Z,1758398963.444 [DAT](INFO): DAT read:
2025-09-20T20:09:23.444Z,1758398963.444 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:23.496Z,1758398963.496 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-20T20:09:23.698Z,1758398963.698 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:23.733Z,1758398963.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:23.735Z,1758398963.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 103.909836 m,
bearing: 244.769158 deg,
approach rate: 0.152016 m/s,
LOS rate: nan deg/s,
cmd heading: 244.777505 deg,
new cmd heading: 244.769158 deg.
2025-09-20T20:09:23.736Z,1758398963.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272027 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:23.948Z,1758398963.948 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:24.076Z,1758398964.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:24.095Z,1758398964.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 103.961678 m,
bearing: 244.762878 deg,
approach rate: 0.150861 m/s,
LOS rate: nan deg/s,
cmd heading: 244.769145 deg,
new cmd heading: 244.762878 deg.
2025-09-20T20:09:24.099Z,1758398964.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271918 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:24.200Z,1758398964.200 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:24.452Z,1758398964.452 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:24.481Z,1758398964.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:24.484Z,1758398964.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.022858 m,
bearing: 244.755514 deg,
approach rate: 0.151023 m/s,
LOS rate: nan deg/s,
cmd heading: 244.762889 deg,
new cmd heading: 244.755514 deg.
2025-09-20T20:09:24.485Z,1758398964.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271790 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:24.704Z,1758398964.704 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:24.916Z,1758398964.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:24.918Z,1758398964.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.093849 m,
bearing: 244.749556 deg,
approach rate: 0.163266 m/s,
LOS rate: nan deg/s,
cmd heading: 244.755512 deg,
new cmd heading: 244.749556 deg.
2025-09-20T20:09:24.920Z,1758398964.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271686 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:24.956Z,1758398964.956 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:25.208Z,1758398965.208 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:25.288Z,1758398965.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:25.290Z,1758398965.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:25.292Z,1758398965.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.154762 m,
bearing: 244.744485 deg,
approach rate: 0.163084 m/s,
LOS rate: nan deg/s,
cmd heading: 244.749556 deg,
new cmd heading: 244.744485 deg.
2025-09-20T20:09:25.293Z,1758398965.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271597 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:25.460Z,1758398965.460 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:25.712Z,1758398965.712 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:25.749Z,1758398965.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:25.751Z,1758398965.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.226379 m,
bearing: 244.736033 deg,
approach rate: 0.155969 m/s,
LOS rate: nan deg/s,
cmd heading: 244.744475 deg,
new cmd heading: 244.736033 deg.
2025-09-20T20:09:25.752Z,1758398965.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271450 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:25.863Z,1758398965.863 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:09:25.964Z,1758398965.964 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:26.117Z,1758398966.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:26.120Z,1758398966.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.283600 m,
bearing: 244.729289 deg,
approach rate: 0.155460 m/s,
LOS rate: nan deg/s,
cmd heading: 244.736033 deg,
new cmd heading: 244.729289 deg.
2025-09-20T20:09:26.121Z,1758398966.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271332 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:26.216Z,1758398966.216 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:26.468Z,1758398966.468 [DAT](INFO): DAT read: Rx Time:20:09:28.4965
2025-09-20T20:09:26.469Z,1758398966.469 [DAT](INFO): Rx dataTimestamp_ set to:1758398966.468221
2025-09-20T20:09:26.469Z,1758398966.469 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:26.530Z,1758398966.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:26.534Z,1758398966.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.348183 m,
bearing: 244.721515 deg,
approach rate: 0.156173 m/s,
LOS rate: nan deg/s,
cmd heading: 244.729284 deg,
new cmd heading: 244.721515 deg.
2025-09-20T20:09:26.534Z,1758398966.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271196 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:26.723Z,1758398966.723 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:26.867Z,1758398966.867 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:09:26.937Z,1758398966.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.08 m.
2025-09-20T20:09:26.940Z,1758398966.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 101.080124 m,
nav range: 104.413071 m,
bearing: 244.714858 deg,
approach rate: 0.159599 m/s,
LOS rate: nan deg/s,
cmd heading: 244.721525 deg,
new cmd heading: 244.714858 deg.
2025-09-20T20:09:26.941Z,1758398966.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.271080 target range: 101.080124 and range: 101.40 m.
2025-09-20T20:09:26.979Z,1758398966.979 [DAT](INFO): DAT read: 20:09:28.4965 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 450,-0.10, 2.145,-2.595, 1.697, 2.538, PHS=-0.292, 1.195,-0.885, RAW= 346.1, -0.2, CAL= 345.6, -3.2, ROT= 164.4, 3.2
2025-09-20T20:09:26.981Z,1758398966.981 [DAT](INFO): got valid direction response:
20:09:28.4965 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 450,-0.10, 2.145,-2.595, 1.697, 2.538, PHS=-0.292, 1.195,-0.885, RAW= 346.1, -0.2, CAL= 345.6, -3.2, ROT= 164.4, 3.2
2025-09-20T20:09:26.981Z,1758398966.981 [DAT](INFO): DAT read: Bearing 60.2, 26.8 (Local)
2025-09-20T20:09:26.982Z,1758398966.982 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.2, 26.8 (Local)
2025-09-20T20:09:26.983Z,1758398966.983 [DAT](INFO): DAT read: Range 11 to 50 : 104.7 m (Round-trip 139.6 ms) speed -0.2 m/s
2025-09-20T20:09:26.984Z,1758398966.984 [DAT](INFO): DAT read: user:125>Tx time:20:09:29.6028
2025-09-20T20:09:26.985Z,1758398966.985 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:26.986Z,1758398966.986 [DAT](INFO): direction in FSK: [-0.961661,0.268501,-0.055822]
2025-09-20T20:09:26.986Z,1758398966.986 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:26.989Z,1758398966.989 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:26.990Z,1758398966.990 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:27.008Z,1758398967.008 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T20:09:27.224Z,1758398967.224 [DAT](INFO): DAT read:
2025-09-20T20:09:27.224Z,1758398967.224 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:27.326Z,1758398967.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.699997 m,
deltaT: 16.384165 s,
deltaX: 3.299995 m,
approachRate: 0.201414 m/s,
rangeRepo size: 2
2025-09-20T20:09:27.331Z,1758398967.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.359886 m,
bearing: 243.000610 deg,
lat: 36.779312 deg,
lon: -121.859596 deg,
deltaT: 16.384165 s,
deltaX: 3.279762 m,
approachRate: 0.200179 m/s,
posRepo size: 2
2025-09-20T20:09:27.333Z,1758398967.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:27.334Z,1758398967.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 243.000610 deg.
2025-09-20T20:09:27.336Z,1758398967.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241161 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:27.480Z,1758398967.480 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:27.728Z,1758398967.728 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:27.821Z,1758398967.821 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:27.824Z,1758398967.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:27.830Z,1758398967.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 103.623726 m,
bearing: 244.268612 deg,
approach rate: 0.183244 m/s,
LOS rate: -0.015066 deg/s,
cmd heading: 243.000618 deg,
new cmd heading: 242.985552 deg.
2025-09-20T20:09:27.849Z,1758398967.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240898 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:27.980Z,1758398967.980 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:28.132Z,1758398968.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:28.134Z,1758398968.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 103.679749 m,
bearing: 244.264009 deg,
approach rate: 0.182390 m/s,
LOS rate: -0.014979 deg/s,
cmd heading: 242.985564 deg,
new cmd heading: 242.976363 deg.
2025-09-20T20:09:28.135Z,1758398968.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240737 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:28.233Z,1758398968.233 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:28.484Z,1758398968.484 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:28.530Z,1758398968.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:28.533Z,1758398968.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 103.752594 m,
bearing: 244.258150 deg,
approach rate: 0.182528 m/s,
LOS rate: -0.014671 deg/s,
cmd heading: 242.976357 deg,
new cmd heading: 242.964647 deg.
2025-09-20T20:09:28.534Z,1758398968.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240533 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:28.738Z,1758398968.738 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:28.954Z,1758398968.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:28.957Z,1758398968.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 103.838608 m,
bearing: 244.253133 deg,
approach rate: 0.202747 m/s,
LOS rate: -0.011816 deg/s,
cmd heading: 242.964637 deg,
new cmd heading: 242.954611 deg.
2025-09-20T20:09:28.958Z,1758398968.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240358 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:28.988Z,1758398968.988 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:29.240Z,1758398969.240 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:29.344Z,1758398969.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:29.350Z,1758398969.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 103.916908 m,
bearing: 244.248510 deg,
approach rate: 0.200868 m/s,
LOS rate: -0.011850 deg/s,
cmd heading: 242.954610 deg,
new cmd heading: 242.945371 deg.
2025-09-20T20:09:29.353Z,1758398969.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240197 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:29.492Z,1758398969.492 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:29.746Z,1758398969.746 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:29.826Z,1758398969.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:29.831Z,1758398969.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 104.026772 m,
bearing: 244.246772 deg,
approach rate: 0.228543 m/s,
LOS rate: -0.003611 deg/s,
cmd heading: 242.945375 deg,
new cmd heading: 242.941904 deg.
2025-09-20T20:09:29.832Z,1758398969.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240136 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:29.997Z,1758398969.997 [DAT](INFO): DAT read: Rx Time:20:09:32.1473
2025-09-20T20:09:29.997Z,1758398969.997 [DAT](INFO): Rx dataTimestamp_ set to:1758398969.996964
2025-09-20T20:09:29.998Z,1758398969.998 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:30.138Z,1758398970.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:30.141Z,1758398970.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.36 m.
2025-09-20T20:09:30.144Z,1758398970.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.359886 m,
nav range: 104.099625 m,
bearing: 244.245636 deg,
approach rate: 0.230606 m/s,
LOS rate: -0.003593 deg/s,
cmd heading: 242.941906 deg,
new cmd heading: 242.939636 deg.
2025-09-20T20:09:30.145Z,1758398970.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240097 target range: 104.359886 and range: 104.70 m.
2025-09-20T20:09:30.248Z,1758398970.248 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:30.517Z,1758398970.517 [DAT](INFO): DAT read: 20:09:32.1473 LVL= 28896, 28465, 32754, 32755, AGC= 65, IDX= 427,-0.17,-0.369, 1.198,-0.847, 0.009, PHS=-0.276, 1.234,-0.901, RAW= 346.5, -0.6, CAL= 346.1, -3.6, ROT= 163.9, 3.6
2025-09-20T20:09:30.518Z,1758398970.518 [DAT](INFO): got valid direction response:
20:09:32.1473 LVL= 28896, 28465, 32754, 32755, AGC= 65, IDX= 427,-0.17,-0.369, 1.198,-0.847, 0.009, PHS=-0.276, 1.234,-0.901, RAW= 346.5, -0.6, CAL= 346.1, -3.6, ROT= 163.9, 3.6
2025-09-20T20:09:30.519Z,1758398970.519 [DAT](INFO): DAT read: Bearing 60.4, 25.5 (Local)
2025-09-20T20:09:30.530Z,1758398970.530 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.4, 25.5 (Local)
2025-09-20T20:09:30.532Z,1758398970.532 [DAT](INFO): DAT read: Range 11 to 50 : 105.3 m (Round-trip 140.5 ms) speed -0.3 m/s
2025-09-20T20:09:30.533Z,1758398970.533 [DAT](INFO): DAT read: user:126>Tx time:20:09:33.2527
2025-09-20T20:09:30.533Z,1758398970.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:30.534Z,1758398970.534 [DAT](INFO): direction in FSK: [-0.958883,0.276768,-0.062791]
2025-09-20T20:09:30.535Z,1758398970.535 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:30.558Z,1758398970.558 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:30.558Z,1758398970.558 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:30.617Z,1758398970.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 105.300003 m,
deltaT: 3.529691 s,
deltaX: 0.600006 m,
approachRate: 0.169988 m/s,
rangeRepo size: 3
2025-09-20T20:09:30.623Z,1758398970.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.966499 m,
bearing: 242.325325 deg,
lat: 36.779309 deg,
lon: -121.859583 deg,
deltaT: 3.529691 s,
deltaX: 0.606613 m,
approachRate: 0.171860 m/s,
posRepo size: 3
2025-09-20T20:09:30.624Z,1758398970.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:30.627Z,1758398970.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.267891 m,
bearing: 243.806724 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003593 deg/s,
cmd heading: 242.939638 deg,
new cmd heading: 242.936219 deg.
2025-09-20T20:09:30.632Z,1758398970.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240037 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:30.755Z,1758398970.755 [DAT](INFO): DAT read:
2025-09-20T20:09:30.757Z,1758398970.757 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:30.966Z,1758398970.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:30.969Z,1758398970.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.360519 m,
bearing: 243.807156 deg,
approach rate: 0.264652 m/s,
LOS rate: 0.001235 deg/s,
cmd heading: 242.936223 deg,
new cmd heading: 242.937087 deg.
2025-09-20T20:09:30.970Z,1758398970.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240052 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:31.004Z,1758398971.004 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:31.256Z,1758398971.256 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:31.362Z,1758398971.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:31.365Z,1758398971.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.459305 m,
bearing: 243.808013 deg,
approach rate: 0.249663 m/s,
LOS rate: 0.002163 deg/s,
cmd heading: 242.937097 deg,
new cmd heading: 242.938809 deg.
2025-09-20T20:09:31.366Z,1758398971.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240082 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:31.508Z,1758398971.508 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:31.762Z,1758398971.762 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:31.864Z,1758398971.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:31.866Z,1758398971.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.586998 m,
bearing: 243.811850 deg,
approach rate: 0.254480 m/s,
LOS rate: 0.007638 deg/s,
cmd heading: 242.938819 deg,
new cmd heading: 242.946484 deg.
2025-09-20T20:09:31.872Z,1758398971.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240216 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:32.012Z,1758398972.012 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:32.230Z,1758398972.230 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:32.233Z,1758398972.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:32.252Z,1758398972.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.689804 m,
bearing: 243.815466 deg,
approach rate: 0.278822 m/s,
LOS rate: 0.009796 deg/s,
cmd heading: 242.946496 deg,
new cmd heading: 242.953719 deg.
2025-09-20T20:09:32.253Z,1758398972.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240342 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:32.264Z,1758398972.264 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:32.516Z,1758398972.516 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:32.636Z,1758398972.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:32.639Z,1758398972.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.796608 m,
bearing: 243.819829 deg,
approach rate: 0.264912 m/s,
LOS rate: 0.010811 deg/s,
cmd heading: 242.953708 deg,
new cmd heading: 242.962425 deg.
2025-09-20T20:09:32.640Z,1758398972.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240494 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:32.772Z,1758398972.772 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:33.020Z,1758398973.020 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:33.050Z,1758398973.050 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 208.84, 224.65, 234.4-32768,-32768,-3768,V
2025-09-20T20:09:33.070Z,1758398973.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:33.093Z,1758398973.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 103.911873 m,
bearing: 243.825275 deg,
approach rate: 0.265403 m/s,
LOS rate: 0.012526 deg/s,
cmd heading: 242.962424 deg,
new cmd heading: 242.973304 deg.
2025-09-20T20:09:33.094Z,1758398973.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240684 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:33.272Z,1758398973.272 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:33.462Z,1758398973.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:33.465Z,1758398973.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 104.015869 m,
bearing: 243.830932 deg,
approach rate: 0.265087 m/s,
LOS rate: 0.014405 deg/s,
cmd heading: 242.973297 deg,
new cmd heading: 242.984600 deg.
2025-09-20T20:09:33.466Z,1758398973.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.240881 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:33.526Z,1758398973.526 [DAT](INFO): DAT read: Rx Time:20:09:35.7987
2025-09-20T20:09:33.526Z,1758398973.526 [DAT](INFO): Rx dataTimestamp_ set to:1758398973.526050
2025-09-20T20:09:33.527Z,1758398973.527 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:33.778Z,1758398973.778 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:33.898Z,1758398973.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.97 m.
2025-09-20T20:09:33.901Z,1758398973.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.966499 m,
nav range: 104.158768 m,
bearing: 243.841581 deg,
approach rate: 0.327930 m/s,
LOS rate: 0.024405 deg/s,
cmd heading: 242.984608 deg,
new cmd heading: 243.005878 deg.
2025-09-20T20:09:33.902Z,1758398973.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241253 target range: 104.966499 and range: 105.30 m.
2025-09-20T20:09:34.029Z,1758398974.029 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:34.286Z,1758398974.286 [DAT](INFO): DAT read: 20:09:35.7987 LVL= 28832, 24993, 32754, 32755, AGC= 66, IDX= 441,-0.46,-2.619,-1.146, 3.093,-2.236, PHS=-0.281, 1.135,-0.998, RAW= 349.3, 1.6, CAL= 348.8, -1.5, ROT= 161.2, 1.5
2025-09-20T20:09:34.287Z,1758398974.287 [DAT](INFO): got valid direction response:
20:09:35.7987 LVL= 28832, 24993, 32754, 32755, AGC= 66, IDX= 441,-0.46,-2.619,-1.146, 3.093,-2.236, PHS=-0.281, 1.135,-0.998, RAW= 349.3, 1.6, CAL= 348.8, -1.5, ROT= 161.2, 1.5
2025-09-20T20:09:34.288Z,1758398974.288 [DAT](INFO): DAT read: Bearing 62.6, 26.1 (Local)
2025-09-20T20:09:34.289Z,1758398974.289 [DAT](INFO): Local bearing/azimuth received:
Bearing 62.6, 26.1 (Local)
2025-09-20T20:09:34.290Z,1758398974.290 [DAT](INFO): DAT read: Range 11 to 50 : 106.3 m (Round-trip 141.8 ms) speed -0.4 m/s
2025-09-20T20:09:34.291Z,1758398974.291 [DAT](INFO): DAT read: user:127>Tx time:20:09:36.9027
2025-09-20T20:09:34.292Z,1758398974.292 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:34.293Z,1758398974.293 [DAT](INFO): direction in FSK: [-0.946325,0.322155,-0.026177]
2025-09-20T20:09:34.293Z,1758398974.293 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:34.300Z,1758398974.300 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:34.301Z,1758398974.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:34.353Z,1758398974.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 106.300003 m,
deltaT: 3.778385 s,
deltaX: 1.000000 m,
approachRate: 0.264663 m/s,
rangeRepo size: 4
2025-09-20T20:09:34.359Z,1758398974.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 105.954292 m,
bearing: 244.124969 deg,
lat: 36.779309 deg,
lon: -121.859583 deg,
deltaT: 3.778385 s,
deltaX: 0.987793 m,
approachRate: 0.261433 m/s,
posRepo size: 4
2025-09-20T20:09:34.360Z,1758398974.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:34.363Z,1758398974.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 104.285835 m,
bearing: 243.851895 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.024405 deg/s,
cmd heading: 243.005891 deg,
new cmd heading: 243.028066 deg.
2025-09-20T20:09:34.372Z,1758398974.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241640 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:34.532Z,1758398974.532 [DAT](INFO): DAT read:
2025-09-20T20:09:34.533Z,1758398974.533 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:34.749Z,1758398974.749 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:34.751Z,1758398974.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:34.754Z,1758398974.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 104.438942 m,
bearing: 243.865320 deg,
approach rate: 0.383983 m/s,
LOS rate: 0.033618 deg/s,
cmd heading: 243.028075 deg,
new cmd heading: 243.054885 deg.
2025-09-20T20:09:34.755Z,1758398974.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242108 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:34.787Z,1758398974.787 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:35.036Z,1758398975.036 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:35.180Z,1758398975.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:35.183Z,1758398975.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 104.585464 m,
bearing: 243.878608 deg,
approach rate: 0.342279 m/s,
LOS rate: 0.030999 deg/s,
cmd heading: 243.054877 deg,
new cmd heading: 243.081417 deg.
2025-09-20T20:09:35.184Z,1758398975.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242571 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:35.288Z,1758398975.288 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:35.540Z,1758398975.540 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:35.553Z,1758398975.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:35.555Z,1758398975.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 104.723480 m,
bearing: 243.892057 deg,
approach rate: 0.369702 m/s,
LOS rate: 0.035978 deg/s,
cmd heading: 243.081406 deg,
new cmd heading: 243.108268 deg.
2025-09-20T20:09:35.556Z,1758398975.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243040 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:35.794Z,1758398975.794 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:35.980Z,1758398975.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:35.983Z,1758398975.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 104.888527 m,
bearing: 243.908409 deg,
approach rate: 0.385953 m/s,
LOS rate: 0.038178 deg/s,
cmd heading: 243.108262 deg,
new cmd heading: 243.140914 deg.
2025-09-20T20:09:35.984Z,1758398975.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.243609 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:36.045Z,1758398976.045 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:36.296Z,1758398976.296 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:36.367Z,1758398976.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:36.370Z,1758398976.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 105.037636 m,
bearing: 243.924296 deg,
approach rate: 0.385275 m/s,
LOS rate: 0.040991 deg/s,
cmd heading: 243.140910 deg,
new cmd heading: 243.172639 deg.
2025-09-20T20:09:36.371Z,1758398976.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244163 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:36.548Z,1758398976.548 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:36.763Z,1758398976.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:36.765Z,1758398976.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:36.770Z,1758398976.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 105.190567 m,
bearing: 243.941765 deg,
approach rate: 0.383992 m/s,
LOS rate: 0.043798 deg/s,
cmd heading: 243.172630 deg,
new cmd heading: 243.207516 deg.
2025-09-20T20:09:36.772Z,1758398976.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244772 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:36.801Z,1758398976.801 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:37.052Z,1758398977.052 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:37.196Z,1758398977.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:37.199Z,1758398977.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 105.364731 m,
bearing: 243.963287 deg,
approach rate: 0.404647 m/s,
LOS rate: 0.049921 deg/s,
cmd heading: 243.207518 deg,
new cmd heading: 243.250491 deg.
2025-09-20T20:09:37.200Z,1758398977.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.245522 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:37.305Z,1758398977.305 [DAT](INFO): DAT read: Rx Time:20:09:39.4505
2025-09-20T20:09:37.306Z,1758398977.306 [DAT](INFO): Rx dataTimestamp_ set to:1758398977.305707
2025-09-20T20:09:37.308Z,1758398977.308 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:37.556Z,1758398977.556 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:37.576Z,1758398977.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.95 m.
2025-09-20T20:09:37.580Z,1758398977.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.954292 m,
nav range: 105.518036 m,
bearing: 243.983525 deg,
approach rate: 0.402800 m/s,
LOS rate: 0.053098 deg/s,
cmd heading: 243.250494 deg,
new cmd heading: 243.290912 deg.
2025-09-20T20:09:37.580Z,1758398977.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246227 target range: 105.954292 and range: 106.30 m.
2025-09-20T20:09:37.844Z,1758398977.844 [DAT](INFO): DAT read: 20:09:39.4505 LVL= 32752, 29233, 32754, 32755, AGC= 64, IDX= 460, 0.23, 0.066, 1.413,-0.549, 0.387, PHS=-0.219, 1.072,-0.979, RAW= 351.5, 1.4, CAL= 351.1, -1.6, ROT= 158.9, 1.6
2025-09-20T20:09:37.849Z,1758398977.849 [DAT](INFO): got valid direction response:
20:09:39.4505 LVL= 32752, 29233, 32754, 32755, AGC= 64, IDX= 460, 0.23, 0.066, 1.413,-0.549, 0.387, PHS=-0.219, 1.072,-0.979, RAW= 351.5, 1.4, CAL= 351.1, -1.6, ROT= 158.9, 1.6
2025-09-20T20:09:37.854Z,1758398977.854 [DAT](INFO): DAT read: Bearing 69.9, 25.3 (Local)
2025-09-20T20:09:37.861Z,1758398977.861 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.9, 25.3 (Local)
2025-09-20T20:09:37.870Z,1758398977.870 [DAT](INFO): DAT read: Range 11 to 50 : 107.7 m (Round-trip 143.7 ms) speed -0.4 m/s
2025-09-20T20:09:37.878Z,1758398977.878 [DAT](INFO): DAT read: user:128>Tx time:20:09:40.5527
2025-09-20T20:09:37.884Z,1758398977.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:37.886Z,1758398977.886 [DAT](INFO): direction in FSK: [-0.932590,0.359857,-0.027922]
2025-09-20T20:09:37.886Z,1758398977.886 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:37.906Z,1758398977.906 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:37.906Z,1758398977.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:38.060Z,1758398978.060 [DAT](INFO): DAT read:
2025-09-20T20:09:38.060Z,1758398978.060 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:38.080Z,1758398978.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.699997 m,
deltaT: 3.529861 s,
deltaX: 1.399994 m,
approachRate: 0.396614 m/s,
rangeRepo size: 4
2025-09-20T20:09:38.082Z,1758398978.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 107.348839 m,
bearing: 248.788252 deg,
lat: 36.779309 deg,
lon: -121.859583 deg,
deltaT: 3.529861 s,
deltaX: 1.394547 m,
approachRate: 0.395071 m/s,
posRepo size: 4
2025-09-20T20:09:38.082Z,1758398978.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:38.094Z,1758398978.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 105.717499 m,
bearing: 244.012434 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.053098 deg/s,
cmd heading: 243.290901 deg,
new cmd heading: 243.343379 deg.
2025-09-20T20:09:38.101Z,1758398978.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.247143 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:38.312Z,1758398978.312 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:38.436Z,1758398978.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:38.455Z,1758398978.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 105.878128 m,
bearing: 244.037130 deg,
approach rate: 0.439198 m/s,
LOS rate: 0.067422 deg/s,
cmd heading: 243.343384 deg,
new cmd heading: 243.392701 deg.
2025-09-20T20:09:38.456Z,1758398978.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248004 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:38.564Z,1758398978.564 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:38.817Z,1758398978.817 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:38.968Z,1758398978.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:38.970Z,1758398978.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:38.988Z,1758398978.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 106.100380 m,
bearing: 244.076452 deg,
approach rate: 0.416753 m/s,
LOS rate: 0.073579 deg/s,
cmd heading: 243.392698 deg,
new cmd heading: 243.471177 deg.
2025-09-20T20:09:38.989Z,1758398978.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.249374 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:39.068Z,1758398979.068 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:39.320Z,1758398979.320 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:39.411Z,1758398979.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:39.414Z,1758398979.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 106.283760 m,
bearing: 244.110581 deg,
approach rate: 0.415653 m/s,
LOS rate: 0.077222 deg/s,
cmd heading: 243.471191 deg,
new cmd heading: 243.539329 deg.
2025-09-20T20:09:39.415Z,1758398979.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250563 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:39.572Z,1758398979.572 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:39.826Z,1758398979.826 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:39.926Z,1758398979.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:39.929Z,1758398979.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 106.487610 m,
bearing: 244.150405 deg,
approach rate: 0.395989 m/s,
LOS rate: 0.077212 deg/s,
cmd heading: 243.539329 deg,
new cmd heading: 243.618824 deg.
2025-09-20T20:09:39.930Z,1758398979.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.251951 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:40.076Z,1758398980.076 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:40.329Z,1758398980.329 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:40.341Z,1758398980.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:40.348Z,1758398980.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 106.661766 m,
bearing: 244.189163 deg,
approach rate: 0.419824 m/s,
LOS rate: 0.093280 deg/s,
cmd heading: 243.618832 deg,
new cmd heading: 243.696223 deg.
2025-09-20T20:09:40.349Z,1758398980.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.253302 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:40.580Z,1758398980.580 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:40.731Z,1758398980.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:40.734Z,1758398980.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 106.829285 m,
bearing: 244.228055 deg,
approach rate: 0.429288 m/s,
LOS rate: 0.099510 deg/s,
cmd heading: 243.696232 deg,
new cmd heading: 243.773894 deg.
2025-09-20T20:09:40.734Z,1758398980.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254657 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:40.833Z,1758398980.833 [DAT](INFO): DAT read: Rx Time:20:09:43.1026
2025-09-20T20:09:40.833Z,1758398980.833 [DAT](INFO): Rx dataTimestamp_ set to:1758398980.833074
2025-09-20T20:09:40.834Z,1758398980.834 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:41.084Z,1758398981.084 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:41.173Z,1758398981.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:41.176Z,1758398981.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:41.178Z,1758398981.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 107.012459 m,
bearing: 244.271303 deg,
approach rate: 0.411640 m/s,
LOS rate: 0.097023 deg/s,
cmd heading: 243.773905 deg,
new cmd heading: 243.860252 deg.
2025-09-20T20:09:41.180Z,1758398981.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256165 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:41.339Z,1758398981.339 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:41.542Z,1758398981.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.35 m.
2025-09-20T20:09:41.545Z,1758398981.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 107.348839 m,
nav range: 107.161552 m,
bearing: 244.309810 deg,
approach rate: 0.406945 m/s,
LOS rate: 0.104957 deg/s,
cmd heading: 243.860266 deg,
new cmd heading: 243.937173 deg.
2025-09-20T20:09:41.546Z,1758398981.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.257507 target range: 107.348839 and range: 107.70 m.
2025-09-20T20:09:41.596Z,1758398981.596 [DAT](INFO): DAT read: 20:09:43.1026 LVL= 29504, 26705, 32754, 31331, AGC= 64, IDX= 465,-0.07, 0.984, 2.235, 0.104, 1.321, PHS=-0.234, 0.959,-1.261, RAW= 357.5, 5.6, CAL= 357.4, 4.2, ROT= 152.6, -4.2
2025-09-20T20:09:41.598Z,1758398981.598 [DAT](INFO): got valid direction response:
20:09:43.1026 LVL= 29504, 26705, 32754, 31331, AGC= 64, IDX= 465,-0.07, 0.984, 2.235, 0.104, 1.321, PHS=-0.234, 0.959,-1.261, RAW= 357.5, 5.6, CAL= 357.4, 4.2, ROT= 152.6, -4.2
2025-09-20T20:09:41.599Z,1758398981.599 [DAT](INFO): DAT read: Bearing 72.8, 29.1 (Local)
2025-09-20T20:09:41.600Z,1758398981.600 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.8, 29.1 (Local)
2025-09-20T20:09:41.601Z,1758398981.601 [DAT](INFO): DAT read: Range 11 to 50 : 109.3 m (Round-trip 145.8 ms) speed -0.4 m/s
2025-09-20T20:09:41.602Z,1758398981.602 [DAT](INFO): DAT read: user:129>Tx time:20:09:44.2027
2025-09-20T20:09:41.602Z,1758398981.602 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:41.611Z,1758398981.611 [DAT](INFO): direction in FSK: [-0.885431,0.458964,0.073238]
2025-09-20T20:09:41.623Z,1758398981.623 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:41.634Z,1758398981.634 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:41.635Z,1758398981.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:41.840Z,1758398981.840 [DAT](INFO): DAT read:
2025-09-20T20:09:41.840Z,1758398981.840 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:41.989Z,1758398981.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.300003 m,
deltaT: 3.778285 s,
deltaX: 1.600006 m,
approachRate: 0.423474 m/s,
rangeRepo size: 4
2025-09-20T20:09:41.991Z,1758398981.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.945107 m,
bearing: 252.726712 deg,
lat: 36.779310 deg,
lon: -121.859594 deg,
deltaT: 3.778285 s,
deltaX: 1.596268 m,
approachRate: 0.422485 m/s,
posRepo size: 4
2025-09-20T20:09:41.992Z,1758398981.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:41.994Z,1758398981.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 108.217529 m,
bearing: 244.622166 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.104957 deg/s,
cmd heading: 243.937174 deg,
new cmd heading: 244.030782 deg.
2025-09-20T20:09:41.995Z,1758398981.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.259140 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:42.093Z,1758398982.093 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:42.344Z,1758398982.344 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:42.366Z,1758398982.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:42.369Z,1758398982.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 108.369705 m,
bearing: 244.666694 deg,
approach rate: 0.402532 m/s,
LOS rate: 0.117618 deg/s,
cmd heading: 244.030775 deg,
new cmd heading: 244.119705 deg.
2025-09-20T20:09:42.370Z,1758398982.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260693 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:42.597Z,1758398982.597 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:42.833Z,1758398982.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:42.839Z,1758398982.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 108.528854 m,
bearing: 244.715134 deg,
approach rate: 0.341126 m/s,
LOS rate: 0.103676 deg/s,
cmd heading: 244.119704 deg,
new cmd heading: 244.216442 deg.
2025-09-20T20:09:42.840Z,1758398982.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.262381 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:42.848Z,1758398982.848 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:43.101Z,1758398983.101 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:43.352Z,1758398983.352 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:43.356Z,1758398983.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:43.358Z,1758398983.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:43.361Z,1758398983.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 108.760780 m,
bearing: 244.786493 deg,
approach rate: 0.441605 m/s,
LOS rate: 0.135584 deg/s,
cmd heading: 244.216446 deg,
new cmd heading: 244.358860 deg.
2025-09-20T20:09:43.362Z,1758398983.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264867 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:43.605Z,1758398983.605 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:43.690Z,1758398983.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:43.693Z,1758398983.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 108.891449 m,
bearing: 244.829851 deg,
approach rate: 0.392913 m/s,
LOS rate: 0.130218 deg/s,
cmd heading: 244.358869 deg,
new cmd heading: 244.445481 deg.
2025-09-20T20:09:43.694Z,1758398983.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266378 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:43.856Z,1758398983.856 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:44.108Z,1758398984.108 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:44.200Z,1758398984.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:44.203Z,1758398984.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 109.087883 m,
bearing: 244.900638 deg,
approach rate: 0.385266 m/s,
LOS rate: 0.138584 deg/s,
cmd heading: 244.445476 deg,
new cmd heading: 244.586795 deg.
2025-09-20T20:09:44.204Z,1758398984.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268845 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:44.360Z,1758398984.360 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:44.583Z,1758398984.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:44.586Z,1758398984.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 109.233681 m,
bearing: 244.955075 deg,
approach rate: 0.380902 m/s,
LOS rate: 0.142028 deg/s,
cmd heading: 244.586807 deg,
new cmd heading: 244.695534 deg.
2025-09-20T20:09:44.587Z,1758398984.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270743 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:44.612Z,1758398984.612 [DAT](INFO): DAT read: Rx Time:20:09:46.7544
2025-09-20T20:09:44.613Z,1758398984.613 [DAT](INFO): Rx dataTimestamp_ set to:1758398984.612604
2025-09-20T20:09:44.614Z,1758398984.614 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:44.865Z,1758398984.865 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:45.080Z,1758398985.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.95 m.
2025-09-20T20:09:45.084Z,1758398985.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.945107 m,
nav range: 109.426384 m,
bearing: 245.027442 deg,
approach rate: 0.387350 m/s,
LOS rate: 0.145208 deg/s,
cmd heading: 244.695543 deg,
new cmd heading: 244.840022 deg.
2025-09-20T20:09:45.085Z,1758398985.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.273264 target range: 108.945107 and range: 109.30 m.
2025-09-20T20:09:45.124Z,1758398985.124 [DAT](INFO): DAT read: 20:09:46.7544 LVL= 31408, 26353, 32754, 32179, AGC= 62, IDX= 468, 0.02, 1.896, 2.827, 0.806, 2.154, PHS=-0.155, 0.718,-1.391, RAW= 5.7, 9.1, CAL= 5.7, 9.7, ROT= 144.3, -9.7
2025-09-20T20:09:45.125Z,1758398985.125 [DAT](INFO): got valid direction response:
20:09:46.7544 LVL= 31408, 26353, 32754, 32179, AGC= 62, IDX= 468, 0.02, 1.896, 2.827, 0.806, 2.154, PHS=-0.155, 0.718,-1.391, RAW= 5.7, 9.1, CAL= 5.7, 9.7, ROT= 144.3, -9.7
2025-09-20T20:09:45.126Z,1758398985.126 [DAT](INFO): DAT read: Bearing 76.2, 35.2 (Local)
2025-09-20T20:09:45.126Z,1758398985.126 [DAT](INFO): Local bearing/azimuth received:
Bearing 76.2, 35.2 (Local)
2025-09-20T20:09:45.128Z,1758398985.128 [DAT](INFO): DAT read: Range 11 to 50 : 110.7 m (Round-trip 147.6 ms) speed -0.4 m/s
2025-09-20T20:09:45.129Z,1758398985.129 [DAT](INFO): DAT read: user:130>Tx time:20:09:47.8527
2025-09-20T20:09:45.129Z,1758398985.129 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:45.130Z,1758398985.130 [DAT](INFO): direction in FSK: [-0.800474,0.575199,0.168489]
2025-09-20T20:09:45.131Z,1758398985.131 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:45.134Z,1758398985.134 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:45.134Z,1758398985.134 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:45.368Z,1758398985.368 [DAT](INFO): DAT read:
2025-09-20T20:09:45.368Z,1758398985.368 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:45.461Z,1758398985.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.699997 m,
deltaT: 3.528021 s,
deltaX: 1.399994 m,
approachRate: 0.396821 m/s,
rangeRepo size: 4
2025-09-20T20:09:45.463Z,1758398985.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 110.347336 m,
bearing: 254.678625 deg,
lat: 36.779377 deg,
lon: -121.859636 deg,
deltaT: 3.528021 s,
deltaX: 1.402229 m,
approachRate: 0.397455 m/s,
posRepo size: 4
2025-09-20T20:09:45.464Z,1758398985.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:45.467Z,1758398985.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 110.088814 m,
bearing: 249.464014 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.145208 deg/s,
cmd heading: 244.840015 deg,
new cmd heading: 244.950398 deg.
2025-09-20T20:09:45.468Z,1758398985.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.275191 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:45.620Z,1758398985.620 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:45.851Z,1758398985.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:45.853Z,1758398985.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:45.856Z,1758398985.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 110.246994 m,
bearing: 249.518223 deg,
approach rate: 0.402852 m/s,
LOS rate: 0.137861 deg/s,
cmd heading: 244.950391 deg,
new cmd heading: 245.058653 deg.
2025-09-20T20:09:45.857Z,1758398985.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.277081 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:45.872Z,1758398985.872 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:46.124Z,1758398986.124 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:46.273Z,1758398986.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:46.275Z,1758398986.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 110.414055 m,
bearing: 249.574130 deg,
approach rate: 0.398437 m/s,
LOS rate: 0.133138 deg/s,
cmd heading: 245.058663 deg,
new cmd heading: 245.170310 deg.
2025-09-20T20:09:46.276Z,1758398986.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279029 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:46.377Z,1758398986.377 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:46.628Z,1758398986.628 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:46.675Z,1758398986.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:46.678Z,1758398986.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 110.574455 m,
bearing: 249.627618 deg,
approach rate: 0.398584 m/s,
LOS rate: 0.132720 deg/s,
cmd heading: 245.170323 deg,
new cmd heading: 245.277143 deg.
2025-09-20T20:09:46.679Z,1758398986.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280894 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:46.880Z,1758398986.880 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:47.091Z,1758398987.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:47.094Z,1758398987.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 110.745163 m,
bearing: 249.688987 deg,
approach rate: 0.410054 m/s,
LOS rate: 0.147186 deg/s,
cmd heading: 245.277147 deg,
new cmd heading: 245.399696 deg.
2025-09-20T20:09:47.095Z,1758398987.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.283033 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:47.132Z,1758398987.132 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:47.385Z,1758398987.385 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:47.477Z,1758398987.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:47.480Z,1758398987.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 110.899918 m,
bearing: 249.746785 deg,
approach rate: 0.401278 m/s,
LOS rate: 0.149661 deg/s,
cmd heading: 245.399708 deg,
new cmd heading: 245.515143 deg.
2025-09-20T20:09:47.481Z,1758398987.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.285048 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:47.636Z,1758398987.636 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:47.888Z,1758398987.888 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:47.934Z,1758398987.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:47.947Z,1758398987.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:47.950Z,1758398987.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 111.077972 m,
bearing: 249.815898 deg,
approach rate: 0.382395 m/s,
LOS rate: 0.148192 deg/s,
cmd heading: 245.515139 deg,
new cmd heading: 245.653143 deg.
2025-09-20T20:09:47.960Z,1758398987.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287456 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:48.141Z,1758398988.141 [DAT](INFO): DAT read: Rx Time:20:09:50.4065
2025-09-20T20:09:48.142Z,1758398988.142 [DAT](INFO): Rx dataTimestamp_ set to:1758398988.141000
2025-09-20T20:09:48.142Z,1758398988.142 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:48.392Z,1758398988.392 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:48.433Z,1758398988.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.35 m.
2025-09-20T20:09:48.436Z,1758398988.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 110.347336 m,
nav range: 111.281143 m,
bearing: 249.894397 deg,
approach rate: 0.414466 m/s,
LOS rate: 0.159844 deg/s,
cmd heading: 245.653136 deg,
new cmd heading: 245.809846 deg.
2025-09-20T20:09:48.437Z,1758398988.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290191 target range: 110.347336 and range: 110.70 m.
2025-09-20T20:09:48.648Z,1758398988.648 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:48.902Z,1758398988.902 [DAT](INFO): DAT read: 20:09:50.4065 LVL= 31392, 25937, 32754, 30691, AGC= 62, IDX= 441, 0.50, 2.157, 2.652, 0.789, 2.203, PHS= 0.056, 0.494,-1.458, RAW= 17.7, 10.3, CAL= 17.2, 11.3, ROT= 132.8, -11.3
2025-09-20T20:09:48.903Z,1758398988.903 [DAT](INFO): got valid direction response:
20:09:50.4065 LVL= 31392, 25937, 32754, 30691, AGC= 62, IDX= 441, 0.50, 2.157, 2.652, 0.789, 2.203, PHS= 0.056, 0.494,-1.458, RAW= 17.7, 10.3, CAL= 17.2, 11.3, ROT= 132.8, -11.3
2025-09-20T20:09:48.904Z,1758398988.904 [DAT](INFO): DAT read: Bearing 85.7, 44.7 (Local)
2025-09-20T20:09:48.904Z,1758398988.904 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.7, 44.7 (Local)
2025-09-20T20:09:48.905Z,1758398988.905 [DAT](INFO): DAT read: Range 11 to 50 : 112.2 m (Round-trip 149.7 ms) speed -0.4 m/s
2025-09-20T20:09:48.906Z,1758398988.906 [DAT](INFO): DAT read: user:131>Tx time:20:09:51.5027
2025-09-20T20:09:48.907Z,1758398988.907 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:48.908Z,1758398988.908 [DAT](INFO): direction in FSK: [-0.666270,0.719506,0.195946]
2025-09-20T20:09:48.908Z,1758398988.908 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:48.918Z,1758398988.918 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:48.919Z,1758398988.919 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:49.077Z,1758398989.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.199997 m,
deltaT: 3.779393 s,
deltaX: 1.500000 m,
approachRate: 0.396889 m/s,
rangeRepo size: 4
2025-09-20T20:09:49.084Z,1758398989.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.836960 m,
bearing: 254.119441 deg,
lat: 36.779439 deg,
lon: -121.859636 deg,
deltaT: 3.779393 s,
deltaX: 1.489624 m,
approachRate: 0.394144 m/s,
posRepo size: 4
2025-09-20T20:09:49.084Z,1758398989.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:49.091Z,1758398989.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 109.353378 m,
bearing: 253.348696 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.159844 deg/s,
cmd heading: 245.809848 deg,
new cmd heading: 246.015698 deg.
2025-09-20T20:09:49.092Z,1758398989.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293784 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:49.149Z,1758398989.149 [DAT](INFO): DAT read:
2025-09-20T20:09:49.149Z,1758398989.149 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:49.400Z,1758398989.400 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:49.591Z,1758398989.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:49.594Z,1758398989.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 109.586472 m,
bearing: 253.440465 deg,
approach rate: 0.452993 m/s,
LOS rate: 0.177964 deg/s,
cmd heading: 246.015709 deg,
new cmd heading: 246.198857 deg.
2025-09-20T20:09:49.595Z,1758398989.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.296981 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:49.652Z,1758398989.652 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:49.904Z,1758398989.904 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:50.117Z,1758398990.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:50.119Z,1758398990.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:50.126Z,1758398990.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 109.792168 m,
bearing: 253.525772 deg,
approach rate: 0.389690 m/s,
LOS rate: 0.161311 deg/s,
cmd heading: 246.198868 deg,
new cmd heading: 246.369162 deg.
2025-09-20T20:09:50.128Z,1758398990.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299953 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:50.156Z,1758398990.156 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:50.408Z,1758398990.408 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:50.472Z,1758398990.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:50.475Z,1758398990.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 109.925934 m,
bearing: 253.585525 deg,
approach rate: 0.378549 m/s,
LOS rate: 0.168892 deg/s,
cmd heading: 246.369158 deg,
new cmd heading: 246.488519 deg.
2025-09-20T20:09:50.476Z,1758398990.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.302036 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:50.660Z,1758398990.660 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:50.888Z,1758398990.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:50.891Z,1758398990.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 110.080933 m,
bearing: 253.657183 deg,
approach rate: 0.372524 m/s,
LOS rate: 0.171979 deg/s,
cmd heading: 246.488522 deg,
new cmd heading: 246.631635 deg.
2025-09-20T20:09:50.892Z,1758398990.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.304534 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:50.912Z,1758398990.912 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:51.164Z,1758398991.164 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:51.341Z,1758398991.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:51.348Z,1758398991.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 110.235321 m,
bearing: 253.729939 deg,
approach rate: 0.341464 m/s,
LOS rate: 0.160690 deg/s,
cmd heading: 246.631629 deg,
new cmd heading: 246.776936 deg.
2025-09-20T20:09:51.349Z,1758398991.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307070 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:51.416Z,1758398991.416 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:51.668Z,1758398991.668 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:51.695Z,1758398991.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:51.698Z,1758398991.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 110.374313 m,
bearing: 253.797687 deg,
approach rate: 0.392587 m/s,
LOS rate: 0.191115 deg/s,
cmd heading: 246.776948 deg,
new cmd heading: 246.912273 deg.
2025-09-20T20:09:51.699Z,1758398991.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309432 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:51.921Z,1758398991.921 [DAT](INFO): DAT read: Rx Time:20:09:54.0583
2025-09-20T20:09:51.921Z,1758398991.921 [DAT](INFO): Rx dataTimestamp_ set to:1758398991.921069
2025-09-20T20:09:51.922Z,1758398991.922 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:52.140Z,1758398992.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:52.142Z,1758398992.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.84 m.
2025-09-20T20:09:52.150Z,1758398992.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.836960 m,
nav range: 110.519821 m,
bearing: 253.876333 deg,
approach rate: 0.324899 m/s,
LOS rate: 0.175374 deg/s,
cmd heading: 246.912267 deg,
new cmd heading: 247.069351 deg.
2025-09-20T20:09:52.150Z,1758398992.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312174 target range: 111.836960 and range: 112.20 m.
2025-09-20T20:09:52.172Z,1758398992.172 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:52.430Z,1758398992.430 [DAT](INFO): DAT read: 20:09:54.0583 LVL= 22640, 18289, 25970, 25891, AGC= 60, IDX= 444,-0.37, 0.204, 0.155,-1.512,-0.078, PHS= 0.384, 0.278,-1.478, RAW= 32.9, 9.0, CAL= 31.6, 9.2, ROT= 118.4, -9.2
2025-09-20T20:09:52.432Z,1758398992.432 [DAT](INFO): got valid direction response:
20:09:54.0583 LVL= 22640, 18289, 25970, 25891, AGC= 60, IDX= 444,-0.37, 0.204, 0.155,-1.512,-0.078, PHS= 0.384, 0.278,-1.478, RAW= 32.9, 9.0, CAL= 31.6, 9.2, ROT= 118.4, -9.2
2025-09-20T20:09:52.433Z,1758398992.433 [DAT](INFO): DAT read: Bearing 99.4, 57.6 (Local)
2025-09-20T20:09:52.433Z,1758398992.433 [DAT](INFO): Local bearing/azimuth received:
Bearing 99.4, 57.6 (Local)
2025-09-20T20:09:52.435Z,1758398992.435 [DAT](INFO): DAT read: Range 11 to 50 : 113.5 m (Round-trip 151.4 ms) speed -0.3 m/s
2025-09-20T20:09:52.436Z,1758398992.436 [DAT](INFO): DAT read: user:132>Tx time:20:09:55.1527
2025-09-20T20:09:52.437Z,1758398992.437 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:52.438Z,1758398992.438 [DAT](INFO): direction in FSK: [-0.469506,0.868333,0.159881]
2025-09-20T20:09:52.438Z,1758398992.438 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:52.472Z,1758398992.472 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:52.472Z,1758398992.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:52.581Z,1758398992.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 113.500000 m,
deltaT: 3.528534 s,
deltaX: 1.300003 m,
approachRate: 0.368426 m/s,
rangeRepo size: 4
2025-09-20T20:09:52.588Z,1758398992.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 113.128342 m,
bearing: 248.162671 deg,
lat: 36.779439 deg,
lon: -121.859636 deg,
deltaT: 3.528534 s,
deltaX: 1.291382 m,
approachRate: 0.365983 m/s,
posRepo size: 4
2025-09-20T20:09:52.588Z,1758398992.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:52.595Z,1758398992.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 110.662247 m,
bearing: 253.956154 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.175374 deg/s,
cmd heading: 247.069362 deg,
new cmd heading: 247.223088 deg.
2025-09-20T20:09:52.596Z,1758398992.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.314857 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:52.676Z,1758398992.676 [DAT](INFO): DAT read:
2025-09-20T20:09:52.677Z,1758398992.677 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:52.930Z,1758398992.930 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:52.964Z,1758398992.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:52.967Z,1758398992.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 110.791283 m,
bearing: 254.034396 deg,
approach rate: 0.336392 m/s,
LOS rate: 0.203738 deg/s,
cmd heading: 247.223096 deg,
new cmd heading: 247.379398 deg.
2025-09-20T20:09:52.968Z,1758398992.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317585 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:53.180Z,1758398993.180 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:53.383Z,1758398993.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:53.386Z,1758398993.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 110.918732 m,
bearing: 254.117684 deg,
approach rate: 0.304578 m/s,
LOS rate: 0.198813 deg/s,
cmd heading: 247.379398 deg,
new cmd heading: 247.545781 deg.
2025-09-20T20:09:53.387Z,1758398993.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320489 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:53.433Z,1758398993.433 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:53.684Z,1758398993.684 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:53.764Z,1758398993.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:53.768Z,1758398993.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 111.032173 m,
bearing: 254.194622 deg,
approach rate: 0.297466 m/s,
LOS rate: 0.201541 deg/s,
cmd heading: 247.545781 deg,
new cmd heading: 247.699500 deg.
2025-09-20T20:09:53.770Z,1758398993.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323172 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:53.936Z,1758398993.936 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:54.185Z,1758398994.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:54.188Z,1758398994.188 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:54.189Z,1758398994.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:54.208Z,1758398994.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 111.151047 m,
bearing: 254.280571 deg,
approach rate: 0.279963 m/s,
LOS rate: 0.202205 deg/s,
cmd heading: 247.699488 deg,
new cmd heading: 247.871201 deg.
2025-09-20T20:09:54.209Z,1758398994.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326169 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:54.443Z,1758398994.443 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:54.579Z,1758398994.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:54.582Z,1758398994.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 111.256859 m,
bearing: 254.360147 deg,
approach rate: 0.270991 m/s,
LOS rate: 0.203604 deg/s,
cmd heading: 247.871199 deg,
new cmd heading: 248.030198 deg.
2025-09-20T20:09:54.583Z,1758398994.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328944 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:54.692Z,1758398994.692 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:54.944Z,1758398994.944 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:54.969Z,1758398994.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:54.972Z,1758398994.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 111.365189 m,
bearing: 254.445019 deg,
approach rate: 0.277889 m/s,
LOS rate: 0.217504 deg/s,
cmd heading: 248.030205 deg,
new cmd heading: 248.199785 deg.
2025-09-20T20:09:54.973Z,1758398994.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.331903 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:55.196Z,1758398995.196 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:55.400Z,1758398995.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:55.402Z,1758398995.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 111.472198 m,
bearing: 254.537937 deg,
approach rate: 0.248426 m/s,
LOS rate: 0.215504 deg/s,
cmd heading: 248.199785 deg,
new cmd heading: 248.385442 deg.
2025-09-20T20:09:55.404Z,1758398995.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335144 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:55.450Z,1758398995.450 [DAT](INFO): DAT read: Rx Time:20:09:57.7112
2025-09-20T20:09:55.450Z,1758398995.450 [DAT](INFO): Rx dataTimestamp_ set to:1758398995.450196
2025-09-20T20:09:55.451Z,1758398995.451 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:55.700Z,1758398995.700 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:55.808Z,1758398995.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.13 m.
2025-09-20T20:09:55.811Z,1758398995.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.128342 m,
nav range: 111.569206 m,
bearing: 254.625955 deg,
approach rate: 0.237441 m/s,
LOS rate: 0.215251 deg/s,
cmd heading: 248.385430 deg,
new cmd heading: 248.561313 deg.
2025-09-20T20:09:55.812Z,1758398995.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.338213 target range: 113.128342 and range: 113.50 m.
2025-09-20T20:09:55.954Z,1758398995.954 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:56.210Z,1758398996.210 [DAT](INFO): DAT read: 20:09:57.7112 LVL= 19168, 20897, 24818, 26707, AGC= 58, IDX= 439,-0.49,-2.148,-2.470, 2.357,-2.587, PHS= 0.540, 0.162,-1.384, RAW= 40.7, 7.8, CAL= 39.3, 7.8, ROT= 110.7, -7.8
2025-09-20T20:09:56.211Z,1758398996.211 [DAT](INFO): got valid direction response:
20:09:57.7112 LVL= 19168, 20897, 24818, 26707, AGC= 58, IDX= 439,-0.49,-2.148,-2.470, 2.357,-2.587, PHS= 0.540, 0.162,-1.384, RAW= 40.7, 7.8, CAL= 39.3, 7.8, ROT= 110.7, -7.8
2025-09-20T20:09:56.212Z,1758398996.212 [DAT](INFO): DAT read: Bearing 114.9, 64.7 (Local)
2025-09-20T20:09:56.212Z,1758398996.212 [DAT](INFO): Local bearing/azimuth received:
Bearing 114.9, 64.7 (Local)
2025-09-20T20:09:56.214Z,1758398996.214 [DAT](INFO): DAT read: Range 11 to 50 : 115.7 m (Round-trip 154.3 ms) speed 0.0 m/s
2025-09-20T20:09:56.216Z,1758398996.216 [DAT](INFO): DAT read: user:133>Tx time:20:09:58.8027
2025-09-20T20:09:56.216Z,1758398996.216 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:56.217Z,1758398996.217 [DAT](INFO): direction in FSK: [-0.350204,0.926789,0.135716]
2025-09-20T20:09:56.217Z,1758398996.217 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:56.221Z,1758398996.221 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:56.221Z,1758398996.221 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:56.277Z,1758398996.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.699997 m,
deltaT: 3.779649 s,
deltaX: 2.199997 m,
approachRate: 0.582064 m/s,
rangeRepo size: 4
2025-09-20T20:09:56.297Z,1758398996.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 115.319305 m,
bearing: 252.309975 deg,
lat: 36.779439 deg,
lon: -121.859626 deg,
deltaT: 3.779649 s,
deltaX: 2.190964 m,
approachRate: 0.579674 m/s,
posRepo size: 4
2025-09-20T20:09:56.298Z,1758398996.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:56.305Z,1758398996.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 110.831268 m,
bearing: 254.604091 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.215251 deg/s,
cmd heading: 248.561321 deg,
new cmd heading: 248.762177 deg.
2025-09-20T20:09:56.306Z,1758398996.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.341719 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:56.456Z,1758398996.456 [DAT](INFO): DAT read:
2025-09-20T20:09:56.456Z,1758398996.456 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:56.673Z,1758398996.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:56.675Z,1758398996.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:56.678Z,1758398996.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 110.929596 m,
bearing: 254.703931 deg,
approach rate: 0.245506 m/s,
LOS rate: 0.249061 deg/s,
cmd heading: 248.762183 deg,
new cmd heading: 248.961685 deg.
2025-09-20T20:09:56.699Z,1758398996.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.345201 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:56.708Z,1758398996.708 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:56.960Z,1758398996.960 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:56.988Z,1758398996.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:09:57.085Z,1758398997.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:57.091Z,1758398997.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.017693 m,
bearing: 254.798152 deg,
approach rate: 0.215290 m/s,
LOS rate: 0.230074 deg/s,
cmd heading: 248.961679 deg,
new cmd heading: 249.149971 deg.
2025-09-20T20:09:57.095Z,1758398997.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348487 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:57.213Z,1758398997.213 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:57.464Z,1758398997.464 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:57.512Z,1758398997.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:57.515Z,1758398997.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.104347 m,
bearing: 254.896302 deg,
approach rate: 0.202850 m/s,
LOS rate: 0.229578 deg/s,
cmd heading: 249.149974 deg,
new cmd heading: 249.346119 deg.
2025-09-20T20:09:57.520Z,1758398997.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.351911 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:57.716Z,1758398997.716 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:57.888Z,1758398997.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:57.890Z,1758398997.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.178299 m,
bearing: 254.985066 deg,
approach rate: 0.196752 m/s,
LOS rate: 0.236003 deg/s,
cmd heading: 249.346110 deg,
new cmd heading: 249.523519 deg.
2025-09-20T20:09:57.892Z,1758398997.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.355007 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:57.968Z,1758398997.968 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:57.992Z,1758398997.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:09:58.220Z,1758398998.220 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:58.326Z,1758398998.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:58.329Z,1758398998.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.263084 m,
bearing: 255.088426 deg,
approach rate: 0.193310 m/s,
LOS rate: 0.235480 deg/s,
cmd heading: 249.523531 deg,
new cmd heading: 249.730092 deg.
2025-09-20T20:09:58.330Z,1758398998.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.358613 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:58.472Z,1758398998.472 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:58.693Z,1758398998.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:09:58.695Z,1758398998.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:58.698Z,1758398998.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.326759 m,
bearing: 255.176587 deg,
approach rate: 0.172493 m/s,
LOS rate: 0.238687 deg/s,
cmd heading: 249.730103 deg,
new cmd heading: 249.906323 deg.
2025-09-20T20:09:58.700Z,1758398998.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.361688 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:58.724Z,1758398998.724 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:58.976Z,1758398998.976 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:59.103Z,1758398999.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:59.106Z,1758398999.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.393242 m,
bearing: 255.274894 deg,
approach rate: 0.163086 m/s,
LOS rate: 0.241011 deg/s,
cmd heading: 249.906322 deg,
new cmd heading: 250.102819 deg.
2025-09-20T20:09:59.109Z,1758398999.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.365118 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:59.228Z,1758398999.228 [DAT](INFO): DAT read: Rx Time:20:10:01.3620
2025-09-20T20:09:59.229Z,1758398999.229 [DAT](INFO): Rx dataTimestamp_ set to:1758398999.228622
2025-09-20T20:09:59.229Z,1758398999.229 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:59.480Z,1758398999.480 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:59.575Z,1758398999.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.32 m.
2025-09-20T20:09:59.578Z,1758398999.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.319305 m,
nav range: 111.463402 m,
bearing: 255.380175 deg,
approach rate: 0.148956 m/s,
LOS rate: 0.223380 deg/s,
cmd heading: 250.102813 deg,
new cmd heading: 250.313240 deg.
2025-09-20T20:09:59.579Z,1758398999.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368790 target range: 115.319305 and range: 115.70 m.
2025-09-20T20:09:59.742Z,1758398999.742 [DAT](INFO): DAT read: 20:10:01.3620 LVL= 19152, 22593, 28386, 29251, AGC= 58, IDX= 449, 0.29, 1.685, 1.074,-0.132, 1.126, PHS= 0.661,-0.007,-1.302, RAW= 49.6, 7.6, CAL= 48.0, 7.5, ROT= 102.0, -7.5
2025-09-20T20:09:59.743Z,1758398999.743 [DAT](INFO): got valid direction response:
20:10:01.3620 LVL= 19152, 22593, 28386, 29251, AGC= 58, IDX= 449, 0.29, 1.685, 1.074,-0.132, 1.126, PHS= 0.661,-0.007,-1.302, RAW= 49.6, 7.6, CAL= 48.0, 7.5, ROT= 102.0, -7.5
2025-09-20T20:09:59.744Z,1758398999.744 [DAT](INFO): DAT read: Bearing 130.9, 72.7 (Local)
2025-09-20T20:09:59.744Z,1758398999.744 [DAT](INFO): Local bearing/azimuth received:
Bearing 130.9, 72.7 (Local)
2025-09-20T20:09:59.746Z,1758398999.746 [DAT](INFO): DAT read: Range 11 to 50 : 116.3 m (Round-trip 155.1 ms) speed 0.0 m/s
2025-09-20T20:09:59.747Z,1758398999.747 [DAT](INFO): DAT read: user:134>Tx time:20:10:02.4527
2025-09-20T20:09:59.747Z,1758398999.747 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:09:59.748Z,1758398999.748 [DAT](INFO): direction in FSK: [-0.206133,0.969779,0.130526]
2025-09-20T20:09:59.749Z,1758398999.749 [DAT](INFO): publishing direction and range info
2025-09-20T20:09:59.753Z,1758398999.753 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:09:59.753Z,1758398999.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:09:59.984Z,1758398999.984 [DAT](INFO): DAT read:
2025-09-20T20:09:59.985Z,1758398999.985 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:00.097Z,1758399000.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 116.300003 m,
deltaT: 3.527835 s,
deltaX: 0.600006 m,
approachRate: 0.170078 m/s,
rangeRepo size: 4
2025-09-20T20:10:00.099Z,1758399000.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 115.919983 m,
bearing: 255.417267 deg,
lat: 36.779437 deg,
lon: -121.859626 deg,
deltaT: 3.527835 s,
deltaX: 0.600677 m,
approachRate: 0.170268 m/s,
posRepo size: 4
2025-09-20T20:10:00.099Z,1758399000.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:00.102Z,1758399000.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.593025 m,
bearing: 255.405977 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.223380 deg/s,
cmd heading: 250.313237 deg,
new cmd heading: 250.546404 deg.
2025-09-20T20:10:00.103Z,1758399000.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.372859 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:00.236Z,1758399000.236 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:00.492Z,1758399000.492 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:00.542Z,1758399000.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:00.545Z,1758399000.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.656746 m,
bearing: 255.512384 deg,
approach rate: 0.142895 m/s,
LOS rate: 0.238484 deg/s,
cmd heading: 250.546392 deg,
new cmd heading: 250.759084 deg.
2025-09-20T20:10:00.546Z,1758399000.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.376572 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:00.744Z,1758399000.744 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:00.971Z,1758399000.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:00.973Z,1758399000.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:00.976Z,1758399000.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.705360 m,
bearing: 255.618537 deg,
approach rate: 0.112777 m/s,
LOS rate: 0.246147 deg/s,
cmd heading: 250.759085 deg,
new cmd heading: 250.971296 deg.
2025-09-20T20:10:00.977Z,1758399000.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.380275 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:00.996Z,1758399000.996 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:01.248Z,1758399001.248 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:01.389Z,1758399001.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:01.392Z,1758399001.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.748734 m,
bearing: 255.719334 deg,
approach rate: 0.104290 m/s,
LOS rate: 0.242272 deg/s,
cmd heading: 250.971285 deg,
new cmd heading: 251.172801 deg.
2025-09-20T20:10:01.393Z,1758399001.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383792 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:01.500Z,1758399001.500 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:01.754Z,1758399001.754 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:01.799Z,1758399001.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:01.819Z,1758399001.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.786552 m,
bearing: 255.817683 deg,
approach rate: 0.092363 m/s,
LOS rate: 0.240110 deg/s,
cmd heading: 251.172803 deg,
new cmd heading: 251.369433 deg.
2025-09-20T20:10:01.820Z,1758399001.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387224 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:02.008Z,1758399002.008 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:02.261Z,1758399002.261 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:02.312Z,1758399002.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:02.315Z,1758399002.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.822945 m,
bearing: 255.943516 deg,
approach rate: 0.070896 m/s,
LOS rate: 0.245055 deg/s,
cmd heading: 251.369430 deg,
new cmd heading: 251.621012 deg.
2025-09-20T20:10:02.316Z,1758399002.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.391615 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:02.512Z,1758399002.512 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:02.686Z,1758399002.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:02.689Z,1758399002.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.849617 m,
bearing: 256.034522 deg,
approach rate: 0.071180 m/s,
LOS rate: 0.242807 deg/s,
cmd heading: 251.621000 deg,
new cmd heading: 251.802968 deg.
2025-09-20T20:10:02.690Z,1758399002.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.394791 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:02.766Z,1758399002.766 [DAT](INFO): DAT read: Rx Time:20:10:05.0107
2025-09-20T20:10:02.767Z,1758399002.767 [DAT](INFO): Rx dataTimestamp_ set to:1758399002.766022
2025-09-20T20:10:02.768Z,1758399002.768 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:03.016Z,1758399003.016 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:03.065Z,1758399003.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:03.067Z,1758399003.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:03.070Z,1758399003.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.867996 m,
bearing: 256.127569 deg,
approach rate: 0.048273 m/s,
LOS rate: 0.244346 deg/s,
cmd heading: 251.802956 deg,
new cmd heading: 251.989018 deg.
2025-09-20T20:10:03.071Z,1758399003.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.398038 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:03.271Z,1758399003.271 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:03.501Z,1758399003.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.92 m.
2025-09-20T20:10:03.504Z,1758399003.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.919983 m,
nav range: 111.883080 m,
bearing: 256.233733 deg,
approach rate: 0.034790 m/s,
LOS rate: 0.244840 deg/s,
cmd heading: 251.989010 deg,
new cmd heading: 252.201309 deg.
2025-09-20T20:10:03.505Z,1758399003.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401743 target range: 115.919983 and range: 116.30 m.
2025-09-20T20:10:03.538Z,1758399003.538 [DAT](INFO): DAT read: 20:10:05.0107 LVL= 24112, 28177, 31714, 26691, AGC= 61, IDX= 436, 0.10, 1.113, 0.156,-0.690, 0.471, PHS= 0.744,-0.270,-1.205, RAW= 61.3, 8.7, CAL= 59.3, 10.5, ROT= 90.7, -10.5
2025-09-20T20:10:03.548Z,1758399003.548 [DAT](INFO): got valid direction response:
20:10:05.0107 LVL= 24112, 28177, 31714, 26691, AGC= 61, IDX= 436, 0.10, 1.113, 0.156,-0.690, 0.471, PHS= 0.744,-0.270,-1.205, RAW= 61.3, 8.7, CAL= 59.3, 10.5, ROT= 90.7, -10.5
2025-09-20T20:10:03.549Z,1758399003.549 [DAT](INFO): DAT read: Bearing 119.6, 83.1 (Local)
2025-09-20T20:10:03.549Z,1758399003.549 [DAT](INFO): Local bearing/azimuth received:
Bearing 119.6, 83.1 (Local)
2025-09-20T20:10:03.551Z,1758399003.551 [DAT](INFO): DAT read: Range 11 to 50 : 115.4 m (Round-trip 153.9 ms) speed -0.1 m/s
2025-09-20T20:10:03.565Z,1758399003.565 [DAT](INFO): DAT read: user:135>Tx time:20:10:06.1027
2025-09-20T20:10:03.565Z,1758399003.565 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:03.566Z,1758399003.566 [DAT](INFO): direction in FSK: [-0.012012,0.983182,0.182236]
2025-09-20T20:10:03.566Z,1758399003.566 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:03.570Z,1758399003.570 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:03.570Z,1758399003.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:03.773Z,1758399003.773 [DAT](INFO): DAT read:
2025-09-20T20:10:03.774Z,1758399003.774 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:03.876Z,1758399003.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.400002 m,
deltaT: 3.790271 s,
deltaX: -0.900002 m,
approachRate: -0.237450 m/s,
rangeRepo size: 4
2025-09-20T20:10:03.878Z,1758399003.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 115.013786 m,
bearing: 258.177869 deg,
lat: 36.779437 deg,
lon: -121.859623 deg,
deltaT: 3.790271 s,
deltaX: -0.906197 m,
approachRate: -0.239085 m/s,
posRepo size: 4
2025-09-20T20:10:03.879Z,1758399003.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:03.882Z,1758399003.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.593231 m,
bearing: 256.287132 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.244840 deg/s,
cmd heading: 252.201320 deg,
new cmd heading: 252.384897 deg.
2025-09-20T20:10:03.899Z,1758399003.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.404947 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:04.024Z,1758399004.024 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:04.276Z,1758399004.276 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:04.338Z,1758399004.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:04.341Z,1758399004.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.591095 m,
bearing: 256.400805 deg,
approach rate: -0.004617 m/s,
LOS rate: 0.245703 deg/s,
cmd heading: 252.384888 deg,
new cmd heading: 252.612238 deg.
2025-09-20T20:10:04.342Z,1758399004.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.408915 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:04.528Z,1758399004.528 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:04.705Z,1758399004.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:04.708Z,1758399004.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.585564 m,
bearing: 256.485682 deg,
approach rate: -0.015072 m/s,
LOS rate: 0.231284 deg/s,
cmd heading: 252.612224 deg,
new cmd heading: 252.781986 deg.
2025-09-20T20:10:04.709Z,1758399004.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.411878 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:04.782Z,1758399004.782 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:05.032Z,1758399005.032 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:05.093Z,1758399005.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:05.095Z,1758399005.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:05.098Z,1758399005.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.574516 m,
bearing: 256.584502 deg,
approach rate: -0.028365 m/s,
LOS rate: 0.253754 deg/s,
cmd heading: 252.781995 deg,
new cmd heading: 252.979654 deg.
2025-09-20T20:10:05.099Z,1758399005.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415328 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:05.287Z,1758399005.287 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:05.520Z,1758399005.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:05.523Z,1758399005.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.553825 m,
bearing: 256.688386 deg,
approach rate: -0.048662 m/s,
LOS rate: 0.244364 deg/s,
cmd heading: 252.979661 deg,
new cmd heading: 253.187467 deg.
2025-09-20T20:10:05.536Z,1758399005.536 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:05.544Z,1758399005.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.418955 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:05.788Z,1758399005.788 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:05.899Z,1758399005.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:05.902Z,1758399005.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.531380 m,
bearing: 256.780568 deg,
approach rate: -0.059232 m/s,
LOS rate: 0.243304 deg/s,
cmd heading: 253.187463 deg,
new cmd heading: 253.371861 deg.
2025-09-20T20:10:05.903Z,1758399005.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.422173 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:06.040Z,1758399006.040 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:06.292Z,1758399006.292 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:06.371Z,1758399006.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:06.374Z,1758399006.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.494080 m,
bearing: 256.887935 deg,
approach rate: -0.079703 m/s,
LOS rate: 0.229501 deg/s,
cmd heading: 253.371851 deg,
new cmd heading: 253.586657 deg.
2025-09-20T20:10:06.375Z,1758399006.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425922 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:06.546Z,1758399006.546 [DAT](INFO): DAT read: Rx Time:20:10:08.6604
2025-09-20T20:10:06.546Z,1758399006.546 [DAT](INFO): Rx dataTimestamp_ set to:1758399006.545967
2025-09-20T20:10:06.547Z,1758399006.547 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:06.797Z,1758399006.797 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:06.811Z,1758399006.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.01 m.
2025-09-20T20:10:06.814Z,1758399006.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.013786 m,
nav range: 111.455971 m,
bearing: 256.985196 deg,
approach rate: -0.086635 m/s,
LOS rate: 0.221184 deg/s,
cmd heading: 253.586646 deg,
new cmd heading: 253.781234 deg.
2025-09-20T20:10:06.814Z,1758399006.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429318 target range: 115.013786 and range: 115.40 m.
2025-09-20T20:10:07.054Z,1758399007.054 [DAT](INFO): DAT read: 20:10:08.6604 LVL= 21520, 27601, 26738, 28611, AGC= 60, IDX= 417, 0.17,-0.566,-2.116,-2.490,-1.480, PHS= 1.016,-0.591,-1.053, RAW= 77.7, 6.7, CAL= 76.7, 5.4, ROT= 73.3, -5.4
2025-09-20T20:10:07.055Z,1758399007.055 [DAT](INFO): got valid direction response:
20:10:08.6604 LVL= 21520, 27601, 26738, 28611, AGC= 60, IDX= 417, 0.17,-0.566,-2.116,-2.490,-1.480, PHS= 1.016,-0.591,-1.053, RAW= 77.7, 6.7, CAL= 76.7, 5.4, ROT= 73.3, -5.4
2025-09-20T20:10:07.056Z,1758399007.056 [DAT](INFO): DAT read: Bearing 311.8, 78.5 (Local)
2025-09-20T20:10:07.056Z,1758399007.056 [DAT](INFO): Local bearing/azimuth received:
Bearing 311.8, 78.5 (Local)
2025-09-20T20:10:07.058Z,1758399007.058 [DAT](INFO): DAT read: Range 11 to 50 : 115.2 m (Round-trip 153.6 ms) speed 0.1 m/s
2025-09-20T20:10:07.059Z,1758399007.059 [DAT](INFO): DAT read: user:136>Tx time:20:10:09.7527
2025-09-20T20:10:07.061Z,1758399007.061 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:07.066Z,1758399007.066 [DAT](INFO): direction in FSK: [0.286085,0.953572,0.094108]
2025-09-20T20:10:07.067Z,1758399007.067 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:07.070Z,1758399007.070 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:07.071Z,1758399007.071 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:07.282Z,1758399007.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.199997 m,
deltaT: 3.525799 s,
deltaX: -0.200005 m,
approachRate: -0.056726 m/s,
rangeRepo size: 4
2025-09-20T20:10:07.302Z,1758399007.302 [DAT](INFO): DAT read:
2025-09-20T20:10:07.304Z,1758399007.304 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:07.320Z,1758399007.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 114.810379 m,
bearing: 250.923918 deg,
lat: 36.779398 deg,
lon: -121.859604 deg,
deltaT: 3.525799 s,
deltaX: -0.203407 m,
approachRate: -0.057691 m/s,
posRepo size: 4
2025-09-20T20:10:07.322Z,1758399007.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:07.329Z,1758399007.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.854317 m,
bearing: 254.700199 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.221184 deg/s,
cmd heading: 253.781225 deg,
new cmd heading: 253.985870 deg.
2025-09-20T20:10:07.332Z,1758399007.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.432889 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:07.552Z,1758399007.552 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:07.696Z,1758399007.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:07.698Z,1758399007.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:07.701Z,1758399007.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.777603 m,
bearing: 254.818231 deg,
approach rate: -0.178955 m/s,
LOS rate: 0.275530 deg/s,
cmd heading: 253.985857 deg,
new cmd heading: 254.222082 deg.
2025-09-20T20:10:07.702Z,1758399007.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437012 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:07.804Z,1758399007.804 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:08.056Z,1758399008.056 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:08.091Z,1758399008.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:08.094Z,1758399008.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.713600 m,
bearing: 254.910058 deg,
approach rate: -0.162928 m/s,
LOS rate: 0.233892 deg/s,
cmd heading: 254.222072 deg,
new cmd heading: 254.405832 deg.
2025-09-20T20:10:08.095Z,1758399008.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.440219 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:08.311Z,1758399008.311 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:08.549Z,1758399008.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:08.552Z,1758399008.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.636917 m,
bearing: 255.015827 deg,
approach rate: -0.167479 m/s,
LOS rate: 0.231163 deg/s,
cmd heading: 254.405832 deg,
new cmd heading: 254.617515 deg.
2025-09-20T20:10:08.553Z,1758399008.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.443914 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:08.560Z,1758399008.560 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:08.812Z,1758399008.812 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:08.899Z,1758399008.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:08.902Z,1758399008.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.571487 m,
bearing: 255.094945 deg,
approach rate: -0.186774 m/s,
LOS rate: 0.225983 deg/s,
cmd heading: 254.617513 deg,
new cmd heading: 254.775843 deg.
2025-09-20T20:10:08.903Z,1758399008.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446677 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:09.064Z,1758399009.064 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:09.319Z,1758399009.319 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:09.371Z,1758399009.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:09.374Z,1758399009.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.479172 m,
bearing: 255.200416 deg,
approach rate: -0.197206 m/s,
LOS rate: 0.225496 deg/s,
cmd heading: 254.775837 deg,
new cmd heading: 254.986954 deg.
2025-09-20T20:10:09.380Z,1758399009.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450362 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:09.568Z,1758399009.568 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:09.812Z,1758399009.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:09.814Z,1758399009.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:09.817Z,1758399009.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.375427 m,
bearing: 255.302857 deg,
approach rate: -0.232223 m/s,
LOS rate: 0.229520 deg/s,
cmd heading: 254.986944 deg,
new cmd heading: 255.192017 deg.
2025-09-20T20:10:09.818Z,1758399009.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.453941 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:09.820Z,1758399009.820 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:10.073Z,1758399010.073 [DAT](INFO): DAT read: Rx Time:20:10:12.3093
2025-09-20T20:10:10.074Z,1758399010.074 [DAT](INFO): Rx dataTimestamp_ set to:1758399010.072983
2025-09-20T20:10:10.074Z,1758399010.074 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:10.185Z,1758399010.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.81 m.
2025-09-20T20:10:10.188Z,1758399010.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 114.810379 m,
nav range: 110.288826 m,
bearing: 255.384122 deg,
approach rate: -0.233317 m/s,
LOS rate: 0.219114 deg/s,
cmd heading: 255.192014 deg,
new cmd heading: 255.354672 deg.
2025-09-20T20:10:10.189Z,1758399010.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.456780 target range: 114.810379 and range: 115.20 m.
2025-09-20T20:10:10.327Z,1758399010.327 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:10.607Z,1758399010.607 [DAT](INFO): DAT read: 20:10:12.3093 LVL= 22992, 32753, 30898, 32755, AGC= 60, IDX= 439,-0.13, 1.466,-0.196,-0.086, 0.668, PHS= 0.900,-0.819,-0.798, RAW= 90.6, 8.4, CAL= 90.2, 8.2, ROT= 59.8, -8.2
2025-09-20T20:10:10.608Z,1758399010.608 [DAT](INFO): got valid direction response:
20:10:12.3093 LVL= 22992, 32753, 30898, 32755, AGC= 60, IDX= 439,-0.13, 1.466,-0.196,-0.086, 0.668, PHS= 0.900,-0.819,-0.798, RAW= 90.6, 8.4, CAL= 90.2, 8.2, ROT= 59.8, -8.2
2025-09-20T20:10:10.609Z,1758399010.609 [DAT](INFO): DAT read: Bearing 343.0, 65.4 (Local)
2025-09-20T20:10:10.610Z,1758399010.610 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.0, 65.4 (Local)
2025-09-20T20:10:10.615Z,1758399010.615 [DAT](INFO): DAT read: Range 11 to 50 : 114.4 m (Round-trip 152.6 ms) speed 0.0 m/s
2025-09-20T20:10:10.616Z,1758399010.616 [DAT](INFO): DAT read: user:137>Tx time:20:10:13.4026
2025-09-20T20:10:10.617Z,1758399010.617 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:10.618Z,1758399010.618 [DAT](INFO): direction in FSK: [0.497877,0.855439,0.142629]
2025-09-20T20:10:10.618Z,1758399010.618 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:10.624Z,1758399010.624 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:10.624Z,1758399010.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:10.772Z,1758399010.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 114.400002 m,
deltaT: 3.529667 s,
deltaX: -0.799995 m,
approachRate: -0.226649 m/s,
rangeRepo size: 4
2025-09-20T20:10:10.779Z,1758399010.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 113.998627 m,
bearing: 247.671393 deg,
lat: 36.779398 deg,
lon: -121.859604 deg,
deltaT: 3.529667 s,
deltaX: -0.811752 m,
approachRate: -0.229980 m/s,
posRepo size: 4
2025-09-20T20:10:10.780Z,1758399010.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:10.792Z,1758399010.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 110.157440 m,
bearing: 255.505873 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.219114 deg/s,
cmd heading: 255.354682 deg,
new cmd heading: 255.609127 deg.
2025-09-20T20:10:10.794Z,1758399010.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461221 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:10.828Z,1758399010.828 [DAT](INFO): DAT read:
2025-09-20T20:10:10.828Z,1758399010.828 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:11.080Z,1758399011.080 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:11.177Z,1758399011.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:11.180Z,1758399011.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 110.047379 m,
bearing: 255.598079 deg,
approach rate: -0.267728 m/s,
LOS rate: 0.224519 deg/s,
cmd heading: 255.609120 deg,
new cmd heading: 255.793717 deg.
2025-09-20T20:10:11.181Z,1758399011.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.464443 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:11.334Z,1758399011.334 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:11.584Z,1758399011.584 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:11.596Z,1758399011.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:11.598Z,1758399011.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.936424 m,
bearing: 255.694501 deg,
approach rate: -0.264783 m/s,
LOS rate: 0.230334 deg/s,
cmd heading: 255.793726 deg,
new cmd heading: 255.986763 deg.
2025-09-20T20:10:11.600Z,1758399011.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467812 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:11.836Z,1758399011.836 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:11.968Z,1758399011.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:11.970Z,1758399011.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:11.973Z,1758399011.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.833801 m,
bearing: 255.775395 deg,
approach rate: -0.274328 m/s,
LOS rate: 0.216446 deg/s,
cmd heading: 255.986775 deg,
new cmd heading: 256.148714 deg.
2025-09-20T20:10:11.974Z,1758399011.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.470638 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:12.088Z,1758399012.088 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:12.346Z,1758399012.346 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:12.429Z,1758399012.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:12.432Z,1758399012.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.700165 m,
bearing: 255.872469 deg,
approach rate: -0.290800 m/s,
LOS rate: 0.211496 deg/s,
cmd heading: 256.148705 deg,
new cmd heading: 256.343089 deg.
2025-09-20T20:10:12.433Z,1758399012.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.474031 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:12.596Z,1758399012.596 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:12.840Z,1758399012.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:12.844Z,1758399012.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.577110 m,
bearing: 255.958089 deg,
approach rate: -0.299391 m/s,
LOS rate: 0.208546 deg/s,
cmd heading: 256.343092 deg,
new cmd heading: 256.514523 deg.
2025-09-20T20:10:12.845Z,1758399012.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477023 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:12.848Z,1758399012.848 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:13.100Z,1758399013.100 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:13.219Z,1758399013.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:13.222Z,1758399013.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.464157 m,
bearing: 256.033418 deg,
approach rate: -0.298375 m/s,
LOS rate: 0.199193 deg/s,
cmd heading: 256.514530 deg,
new cmd heading: 256.665343 deg.
2025-09-20T20:10:13.223Z,1758399013.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479655 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:13.355Z,1758399013.355 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:13.604Z,1758399013.604 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:13.654Z,1758399013.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:13.667Z,1758399013.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.330971 m,
bearing: 256.123750 deg,
approach rate: -0.306007 m/s,
LOS rate: 0.207800 deg/s,
cmd heading: 256.665340 deg,
new cmd heading: 256.846225 deg.
2025-09-20T20:10:13.668Z,1758399013.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.482812 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:13.856Z,1758399013.856 [DAT](INFO): DAT read: Rx Time:20:10:15.9580
2025-09-20T20:10:13.857Z,1758399013.857 [DAT](INFO): Rx dataTimestamp_ set to:1758399013.856217
2025-09-20T20:10:13.857Z,1758399013.857 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:14.019Z,1758399014.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:14.021Z,1758399014.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.00 m.
2025-09-20T20:10:14.045Z,1758399014.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.998627 m,
nav range: 109.208817 m,
bearing: 256.199655 deg,
approach rate: -0.333039 m/s,
LOS rate: 0.207177 deg/s,
cmd heading: 256.846231 deg,
new cmd heading: 256.998210 deg.
2025-09-20T20:10:14.046Z,1758399014.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485465 target range: 113.998627 and range: 114.40 m.
2025-09-20T20:10:14.109Z,1758399014.109 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:14.384Z,1758399014.384 [DAT](INFO): DAT read: 20:10:15.9580 LVL= 27488, 26433, 30114, 32435, AGC= 60, IDX= 425, 0.11,-1.765, 2.671, 3.032,-2.574, PHS= 0.911,-0.993,-0.721, RAW= 97.6, 9.0, CAL= 98.0, 9.6, ROT= 52.0, -9.6
2025-09-20T20:10:14.415Z,1758399014.415 [DAT](INFO): got valid direction response:
20:10:15.9580 LVL= 27488, 26433, 30114, 32435, AGC= 60, IDX= 425, 0.11,-1.765, 2.671, 3.032,-2.574, PHS= 0.911,-0.993,-0.721, RAW= 97.6, 9.0, CAL= 98.0, 9.6, ROT= 52.0, -9.6
2025-09-20T20:10:14.416Z,1758399014.416 [DAT](INFO): DAT read: Bearing 359.2, 57.6 (Local)
2025-09-20T20:10:14.417Z,1758399014.417 [DAT](INFO): Local bearing/azimuth received:
Bearing 359.2, 57.6 (Local)
2025-09-20T20:10:14.418Z,1758399014.418 [DAT](INFO): DAT read: Range 11 to 50 : 113.4 m (Round-trip 151.2 ms) speed 0.2 m/s
2025-09-20T20:10:14.427Z,1758399014.427 [DAT](INFO): DAT read: user:138>Tx time:20:10:17.0526
2025-09-20T20:10:14.428Z,1758399014.428 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:14.429Z,1758399014.429 [DAT](INFO): direction in FSK: [0.607040,0.776975,0.166769]
2025-09-20T20:10:14.429Z,1758399014.429 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:14.442Z,1758399014.442 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:14.442Z,1758399014.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:14.559Z,1758399014.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 113.400002 m,
deltaT: 3.784060 s,
deltaX: -1.000000 m,
approachRate: -0.264266 m/s,
rangeRepo size: 4
2025-09-20T20:10:14.565Z,1758399014.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 112.994827 m,
bearing: 252.524615 deg,
lat: 36.779342 deg,
lon: -121.859580 deg,
deltaT: 3.784060 s,
deltaX: -1.003799 m,
approachRate: -0.265271 m/s,
posRepo size: 4
2025-09-20T20:10:14.566Z,1758399014.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:14.573Z,1758399014.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 108.616768 m,
bearing: 252.856024 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.207177 deg/s,
cmd heading: 256.998217 deg,
new cmd heading: 257.220658 deg.
2025-09-20T20:10:14.574Z,1758399014.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489347 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:14.612Z,1758399014.612 [DAT](INFO): DAT read:
2025-09-20T20:10:14.613Z,1758399014.613 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:14.864Z,1758399014.864 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:14.889Z,1758399014.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:14.892Z,1758399014.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 108.486855 m,
bearing: 252.921586 deg,
approach rate: -0.392615 m/s,
LOS rate: 0.198372 deg/s,
cmd heading: 257.220662 deg,
new cmd heading: 257.351941 deg.
2025-09-20T20:10:14.893Z,1758399014.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491639 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:15.116Z,1758399015.116 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:15.307Z,1758399015.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:15.310Z,1758399015.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 108.330147 m,
bearing: 252.997518 deg,
approach rate: -0.374825 m/s,
LOS rate: 0.181885 deg/s,
cmd heading: 257.351938 deg,
new cmd heading: 257.504023 deg.
2025-09-20T20:10:15.311Z,1758399015.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494293 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:15.369Z,1758399015.369 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:15.620Z,1758399015.620 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:15.740Z,1758399015.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:15.749Z,1758399015.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 108.171227 m,
bearing: 253.068809 deg,
approach rate: -0.371156 m/s,
LOS rate: 0.166742 deg/s,
cmd heading: 257.504033 deg,
new cmd heading: 257.646822 deg.
2025-09-20T20:10:15.760Z,1758399015.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496785 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:15.872Z,1758399015.872 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:16.124Z,1758399016.124 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:16.159Z,1758399016.159 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:16.161Z,1758399016.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:16.164Z,1758399016.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 108.004295 m,
bearing: 253.140740 deg,
approach rate: -0.391637 m/s,
LOS rate: 0.169018 deg/s,
cmd heading: 257.646811 deg,
new cmd heading: 257.790895 deg.
2025-09-20T20:10:16.165Z,1758399016.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499300 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:16.378Z,1758399016.378 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:16.566Z,1758399016.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:16.573Z,1758399016.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 107.851074 m,
bearing: 253.202939 deg,
approach rate: -0.378675 m/s,
LOS rate: 0.153940 deg/s,
cmd heading: 257.790901 deg,
new cmd heading: 257.915476 deg.
2025-09-20T20:10:16.574Z,1758399016.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501474 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:16.628Z,1758399016.628 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:16.880Z,1758399016.880 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:16.924Z,1758399016.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:16.928Z,1758399016.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 107.698738 m,
bearing: 253.262287 deg,
approach rate: -0.424878 m/s,
LOS rate: 0.165761 deg/s,
cmd heading: 257.915484 deg,
new cmd heading: 258.034348 deg.
2025-09-20T20:10:16.929Z,1758399016.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503549 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:17.133Z,1758399017.133 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:17.346Z,1758399017.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:17.349Z,1758399017.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 107.535202 m,
bearing: 253.323404 deg,
approach rate: -0.388136 m/s,
LOS rate: 0.145275 deg/s,
cmd heading: 258.034356 deg,
new cmd heading: 258.156775 deg.
2025-09-20T20:10:17.350Z,1758399017.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505686 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:17.385Z,1758399017.385 [DAT](INFO): DAT read: Rx Time:20:10:19.6062
2025-09-20T20:10:17.386Z,1758399017.386 [DAT](INFO): Rx dataTimestamp_ set to:1758399017.385130
2025-09-20T20:10:17.386Z,1758399017.386 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:17.636Z,1758399017.636 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:17.783Z,1758399017.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 112.99 m.
2025-09-20T20:10:17.825Z,1758399017.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 112.994827 m,
nav range: 107.346779 m,
bearing: 253.391045 deg,
approach rate: -0.431681 m/s,
LOS rate: 0.155239 deg/s,
cmd heading: 258.156781 deg,
new cmd heading: 258.292300 deg.
2025-09-20T20:10:17.826Z,1758399017.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508051 target range: 112.994827 and range: 113.40 m.
2025-09-20T20:10:17.898Z,1758399017.898 [DAT](INFO): DAT read: 20:10:19.6062 LVL= 31088, 32753, 32226, 32755, AGC= 63, IDX= 424,-0.26,-2.588, 1.910, 2.633, 3.056, PHS= 0.741,-1.101,-0.466, RAW= 109.8, 10.2, CAL= 111.4, 11.6, ROT= 38.6, -11.6
2025-09-20T20:10:17.899Z,1758399017.899 [DAT](INFO): got valid direction response:
20:10:19.6062 LVL= 31088, 32753, 32226, 32755, AGC= 63, IDX= 424,-0.26,-2.588, 1.910, 2.633, 3.056, PHS= 0.741,-1.101,-0.466, RAW= 109.8, 10.2, CAL= 111.4, 11.6, ROT= 38.6, -11.6
2025-09-20T20:10:17.900Z,1758399017.900 [DAT](INFO): DAT read: Bearing 14.0, 44.4 (Local)
2025-09-20T20:10:17.900Z,1758399017.900 [DAT](INFO): Local bearing/azimuth received:
Bearing 14.0, 44.4 (Local)
2025-09-20T20:10:17.902Z,1758399017.902 [DAT](INFO): DAT read: Range 11 to 50 : 112.1 m (Round-trip 149.5 ms) speed 0.4 m/s
2025-09-20T20:10:17.911Z,1758399017.911 [DAT](INFO): DAT read: user:139>Tx time:20:10:20.7026
2025-09-20T20:10:17.912Z,1758399017.912 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:17.913Z,1758399017.913 [DAT](INFO): direction in FSK: [0.765558,0.611137,0.201078]
2025-09-20T20:10:17.913Z,1758399017.913 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:17.932Z,1758399017.932 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:17.932Z,1758399017.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:18.143Z,1758399018.143 [DAT](INFO): DAT read:
2025-09-20T20:10:18.144Z,1758399018.144 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:18.253Z,1758399018.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 112.099998 m,
deltaT: 3.528130 s,
deltaX: -1.300003 m,
approachRate: -0.368468 m/s,
rangeRepo size: 4
2025-09-20T20:10:18.260Z,1758399018.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.694656 m,
bearing: 250.754646 deg,
lat: 36.779335 deg,
lon: -121.859556 deg,
deltaT: 3.528130 s,
deltaX: -1.300171 m,
approachRate: -0.368516 m/s,
posRepo size: 4
2025-09-20T20:10:18.260Z,1758399018.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:18.267Z,1758399018.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 105.384995 m,
bearing: 252.720712 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.155239 deg/s,
cmd heading: 258.292291 deg,
new cmd heading: 258.436408 deg.
2025-09-20T20:10:18.268Z,1758399018.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510566 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:18.394Z,1758399018.394 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:18.644Z,1758399018.644 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:18.657Z,1758399018.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:18.659Z,1758399018.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:18.662Z,1758399018.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 105.189430 m,
bearing: 252.780715 deg,
approach rate: -0.474227 m/s,
LOS rate: 0.145772 deg/s,
cmd heading: 258.436408 deg,
new cmd heading: 258.556637 deg.
2025-09-20T20:10:18.663Z,1758399018.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.512665 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:18.896Z,1758399018.896 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:19.027Z,1758399019.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:19.030Z,1758399019.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 105.022034 m,
bearing: 252.829754 deg,
approach rate: -0.454926 m/s,
LOS rate: 0.133484 deg/s,
cmd heading: 258.556647 deg,
new cmd heading: 258.654882 deg.
2025-09-20T20:10:19.047Z,1758399019.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514380 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:19.149Z,1758399019.149 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:19.400Z,1758399019.400 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:19.484Z,1758399019.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:19.501Z,1758399019.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 104.832016 m,
bearing: 252.882817 deg,
approach rate: -0.421244 m/s,
LOS rate: 0.117846 deg/s,
cmd heading: 258.654893 deg,
new cmd heading: 258.761210 deg.
2025-09-20T20:10:19.502Z,1758399019.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.516235 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:19.652Z,1758399019.652 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:19.869Z,1758399019.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:19.872Z,1758399019.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 104.632332 m,
bearing: 252.938028 deg,
approach rate: -0.510657 m/s,
LOS rate: 0.141461 deg/s,
cmd heading: 258.761198 deg,
new cmd heading: 258.871830 deg.
2025-09-20T20:10:19.873Z,1758399019.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518166 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:19.904Z,1758399019.904 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:20.159Z,1758399020.159 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:20.257Z,1758399020.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:20.260Z,1758399020.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 104.451591 m,
bearing: 252.985612 deg,
approach rate: -0.465202 m/s,
LOS rate: 0.122689 deg/s,
cmd heading: 258.871819 deg,
new cmd heading: 258.967153 deg.
2025-09-20T20:10:20.261Z,1758399020.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519829 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:20.408Z,1758399020.408 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:20.660Z,1758399020.660 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:20.679Z,1758399020.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:20.681Z,1758399020.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:20.684Z,1758399020.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 104.245461 m,
bearing: 253.038804 deg,
approach rate: -0.486121 m/s,
LOS rate: 0.125691 deg/s,
cmd heading: 258.967141 deg,
new cmd heading: 259.073735 deg.
2025-09-20T20:10:20.685Z,1758399020.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521690 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:20.912Z,1758399020.912 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:21.051Z,1758399021.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:21.054Z,1758399021.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 104.065559 m,
bearing: 253.082799 deg,
approach rate: -0.486559 m/s,
LOS rate: 0.119194 deg/s,
cmd heading: 259.073747 deg,
new cmd heading: 259.161889 deg.
2025-09-20T20:10:21.072Z,1758399021.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523228 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:21.165Z,1758399021.165 [DAT](INFO): DAT read: Rx Time:20:10:23.2541
2025-09-20T20:10:21.165Z,1758399021.165 [DAT](INFO): Rx dataTimestamp_ set to:1758399021.165083
2025-09-20T20:10:21.166Z,1758399021.166 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:21.416Z,1758399021.416 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:21.481Z,1758399021.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.69 m.
2025-09-20T20:10:21.525Z,1758399021.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.694656 m,
nav range: 103.861847 m,
bearing: 253.129965 deg,
approach rate: -0.476937 m/s,
LOS rate: 0.110642 deg/s,
cmd heading: 259.161884 deg,
new cmd heading: 259.256400 deg.
2025-09-20T20:10:21.534Z,1758399021.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524878 target range: 111.694656 and range: 112.10 m.
2025-09-20T20:10:21.674Z,1758399021.674 [DAT](INFO): DAT read: 20:10:23.2541 LVL= 24992, 32753, 32482, 28579, AGC= 59, IDX= 417,-0.16,-2.309, 1.987, 3.003,-2.923, PHS= 0.716,-1.328,-0.401, RAW= 116.9, 11.4, CAL= 118.0, 12.7, ROT= 32.0, -12.7
2025-09-20T20:10:21.675Z,1758399021.675 [DAT](INFO): got valid direction response:
20:10:23.2541 LVL= 24992, 32753, 32482, 28579, AGC= 59, IDX= 417,-0.16,-2.309, 1.987, 3.003,-2.923, PHS= 0.716,-1.328,-0.401, RAW= 116.9, 11.4, CAL= 118.0, 12.7, ROT= 32.0, -12.7
2025-09-20T20:10:21.676Z,1758399021.676 [DAT](INFO): DAT read: Bearing 26.7, 38.1 (Local)
2025-09-20T20:10:21.676Z,1758399021.676 [DAT](INFO): Local bearing/azimuth received:
Bearing 26.7, 38.1 (Local)
2025-09-20T20:10:21.677Z,1758399021.677 [DAT](INFO): DAT read: Range 11 to 50 : 110.4 m (Round-trip 147.3 ms) speed 0.4 m/s
2025-09-20T20:10:21.678Z,1758399021.678 [DAT](INFO): DAT read: user:140>Tx time:20:10:24.3526
2025-09-20T20:10:21.679Z,1758399021.679 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:21.680Z,1758399021.680 [DAT](INFO): direction in FSK: [0.827300,0.516955,0.219846]
2025-09-20T20:10:21.680Z,1758399021.680 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:21.684Z,1758399021.684 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:21.684Z,1758399021.684 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:21.909Z,1758399021.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 110.400002 m,
deltaT: 3.778108 s,
deltaX: -1.699997 m,
approachRate: -0.449960 m/s,
rangeRepo size: 4
2025-09-20T20:10:21.912Z,1758399021.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 109.991600 m,
bearing: 253.658573 deg,
lat: 36.779335 deg,
lon: -121.859545 deg,
deltaT: 3.778108 s,
deltaX: -1.703056 m,
approachRate: -0.450770 m/s,
posRepo size: 4
2025-09-20T20:10:21.912Z,1758399021.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:21.915Z,1758399021.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 102.677185 m,
bearing: 253.018157 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.110642 deg/s,
cmd heading: 259.256386 deg,
new cmd heading: 259.351609 deg.
2025-09-20T20:10:21.916Z,1758399021.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526539 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:21.920Z,1758399021.920 [DAT](INFO): DAT read:
2025-09-20T20:10:21.920Z,1758399021.920 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:22.172Z,1758399022.172 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:22.285Z,1758399022.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:22.288Z,1758399022.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 102.482819 m,
bearing: 253.058358 deg,
approach rate: -0.517056 m/s,
LOS rate: 0.107148 deg/s,
cmd heading: 259.351599 deg,
new cmd heading: 259.432155 deg.
2025-09-20T20:10:22.289Z,1758399022.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527946 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:22.424Z,1758399022.424 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:22.676Z,1758399022.676 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:22.715Z,1758399022.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:22.721Z,1758399022.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:22.726Z,1758399022.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 102.255432 m,
bearing: 253.104254 deg,
approach rate: -0.522141 m/s,
LOS rate: 0.105623 deg/s,
cmd heading: 259.432168 deg,
new cmd heading: 259.524163 deg.
2025-09-20T20:10:22.729Z,1758399022.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529551 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:22.928Z,1758399022.928 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:23.109Z,1758399023.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:23.113Z,1758399023.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 102.051857 m,
bearing: 253.142742 deg,
approach rate: -0.522823 m/s,
LOS rate: 0.099043 deg/s,
cmd heading: 259.524157 deg,
new cmd heading: 259.601287 deg.
2025-09-20T20:10:23.114Z,1758399023.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530897 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:23.181Z,1758399023.181 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:23.432Z,1758399023.432 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:23.578Z,1758399023.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:23.584Z,1758399023.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 101.810570 m,
bearing: 253.185345 deg,
approach rate: -0.515512 m/s,
LOS rate: 0.091238 deg/s,
cmd heading: 259.601284 deg,
new cmd heading: 259.686692 deg.
2025-09-20T20:10:23.585Z,1758399023.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532388 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:23.685Z,1758399023.685 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:23.936Z,1758399023.936 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:23.937Z,1758399023.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:23.939Z,1758399023.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 101.597984 m,
bearing: 253.218533 deg,
approach rate: -0.594418 m/s,
LOS rate: 0.092992 deg/s,
cmd heading: 259.686688 deg,
new cmd heading: 259.753203 deg.
2025-09-20T20:10:23.940Z,1758399023.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533549 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:24.188Z,1758399024.188 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:24.324Z,1758399024.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:24.327Z,1758399024.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 101.380409 m,
bearing: 253.249820 deg,
approach rate: -0.559358 m/s,
LOS rate: 0.080608 deg/s,
cmd heading: 259.753214 deg,
new cmd heading: 259.815923 deg.
2025-09-20T20:10:24.328Z,1758399024.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534643 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:24.440Z,1758399024.440 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:24.694Z,1758399024.694 [DAT](INFO): DAT read: Rx Time:20:10:26.9014
2025-09-20T20:10:24.694Z,1758399024.694 [DAT](INFO): Rx dataTimestamp_ set to:1758399024.694197
2025-09-20T20:10:24.695Z,1758399024.695 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:24.789Z,1758399024.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:24.793Z,1758399024.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:24.797Z,1758399024.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 101.116669 m,
bearing: 253.284203 deg,
approach rate: -0.562865 m/s,
LOS rate: 0.073570 deg/s,
cmd heading: 259.815915 deg,
new cmd heading: 259.884860 deg.
2025-09-20T20:10:24.799Z,1758399024.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535847 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:24.948Z,1758399024.948 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:25.132Z,1758399025.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 109.99 m.
2025-09-20T20:10:25.147Z,1758399025.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 109.991600 m,
nav range: 100.921783 m,
bearing: 253.307300 deg,
approach rate: -0.578080 m/s,
LOS rate: 0.068645 deg/s,
cmd heading: 259.884873 deg,
new cmd heading: 259.931157 deg.
2025-09-20T20:10:25.184Z,1758399025.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536654 target range: 109.991600 and range: 110.40 m.
2025-09-20T20:10:25.206Z,1758399025.206 [DAT](INFO): DAT read: 20:10:26.9014 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 422,-0.20, 0.554,-1.555,-0.086, 0.048, PHS= 0.608,-1.558,-0.179, RAW= 129.0, 11.9, CAL= 128.7, 13.1, ROT= 21.3, -13.1
2025-09-20T20:10:25.207Z,1758399025.207 [DAT](INFO): got valid direction response:
20:10:26.9014 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 422,-0.20, 0.554,-1.555,-0.086, 0.048, PHS= 0.608,-1.558,-0.179, RAW= 129.0, 11.9, CAL= 128.7, 13.1, ROT= 21.3, -13.1
2025-09-20T20:10:25.208Z,1758399025.208 [DAT](INFO): DAT read: Bearing 38.3, 27.5 (Local)
2025-09-20T20:10:25.208Z,1758399025.208 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.3, 27.5 (Local)
2025-09-20T20:10:25.210Z,1758399025.210 [DAT](INFO): DAT read: Range 11 to 50 : 108.5 m (Round-trip 144.7 ms) speed 0.4 m/s
2025-09-20T20:10:25.211Z,1758399025.211 [DAT](INFO): DAT read: user:141>Tx time:20:10:28.0026
2025-09-20T20:10:25.212Z,1758399025.212 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:25.214Z,1758399025.214 [DAT](INFO): direction in FSK: [0.907445,0.353798,0.226651]
2025-09-20T20:10:25.220Z,1758399025.220 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:25.234Z,1758399025.234 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:25.234Z,1758399025.234 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:25.452Z,1758399025.452 [DAT](INFO): DAT read:
2025-09-20T20:10:25.453Z,1758399025.453 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:25.612Z,1758399025.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 108.500000 m,
deltaT: 3.532113 s,
deltaX: -1.900002 m,
approachRate: -0.537922 m/s,
rangeRepo size: 4
2025-09-20T20:10:25.614Z,1758399025.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.101128 m,
bearing: 254.596862 deg,
lat: 36.779342 deg,
lon: -121.859545 deg,
deltaT: 3.532113 s,
deltaX: -1.890472 m,
approachRate: -0.535224 m/s,
posRepo size: 4
2025-09-20T20:10:25.615Z,1758399025.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:25.618Z,1758399025.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 100.423843 m,
bearing: 253.766152 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.068645 deg/s,
cmd heading: 259.931154 deg,
new cmd heading: 259.997287 deg.
2025-09-20T20:10:25.618Z,1758399025.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537809 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:25.704Z,1758399025.704 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:25.956Z,1758399025.956 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:25.979Z,1758399025.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:25.982Z,1758399025.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 100.208427 m,
bearing: 253.784421 deg,
approach rate: -0.585898 m/s,
LOS rate: 0.049796 deg/s,
cmd heading: 259.997298 deg,
new cmd heading: 260.033914 deg.
2025-09-20T20:10:25.983Z,1758399025.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538448 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:26.208Z,1758399026.208 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:26.370Z,1758399026.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:26.372Z,1758399026.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 99.980980 m,
bearing: 253.801025 deg,
approach rate: -0.582668 m/s,
LOS rate: 0.042633 deg/s,
cmd heading: 260.033908 deg,
new cmd heading: 260.067192 deg.
2025-09-20T20:10:26.373Z,1758399026.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539029 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:26.460Z,1758399026.460 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:26.713Z,1758399026.713 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:26.824Z,1758399026.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:26.826Z,1758399026.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:26.829Z,1758399026.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 99.705597 m,
bearing: 253.823570 deg,
approach rate: -0.603155 m/s,
LOS rate: 0.049515 deg/s,
cmd heading: 260.067184 deg,
new cmd heading: 260.112398 deg.
2025-09-20T20:10:26.830Z,1758399026.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539818 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:26.967Z,1758399026.967 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:27.167Z,1758399027.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:27.170Z,1758399027.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 99.500381 m,
bearing: 253.835555 deg,
approach rate: -0.602352 m/s,
LOS rate: 0.035253 deg/s,
cmd heading: 260.112400 deg,
new cmd heading: 260.136421 deg.
2025-09-20T20:10:27.171Z,1758399027.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540237 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:27.217Z,1758399027.217 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:27.468Z,1758399027.468 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:27.641Z,1758399027.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:27.652Z,1758399027.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 99.215324 m,
bearing: 253.848880 deg,
approach rate: -0.600580 m/s,
LOS rate: 0.028155 deg/s,
cmd heading: 260.136415 deg,
new cmd heading: 260.163142 deg.
2025-09-20T20:10:27.653Z,1758399027.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540703 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:27.722Z,1758399027.722 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:27.972Z,1758399027.972 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:27.998Z,1758399027.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:28.001Z,1758399028.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 98.999054 m,
bearing: 253.856026 deg,
approach rate: -0.607380 m/s,
LOS rate: 0.020113 deg/s,
cmd heading: 260.163135 deg,
new cmd heading: 260.177459 deg.
2025-09-20T20:10:28.001Z,1758399028.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540953 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:28.115Z,1758399028.115 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:10:28.225Z,1758399028.225 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:28.381Z,1758399028.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:28.384Z,1758399028.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 98.771194 m,
bearing: 253.860797 deg,
approach rate: -0.593743 m/s,
LOS rate: 0.012459 deg/s,
cmd heading: 260.177451 deg,
new cmd heading: 260.187014 deg.
2025-09-20T20:10:28.385Z,1758399028.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541120 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:28.477Z,1758399028.477 [DAT](INFO): DAT read: Rx Time:20:10:30.5486
2025-09-20T20:10:28.478Z,1758399028.478 [DAT](INFO): Rx dataTimestamp_ set to:1758399028.476981
2025-09-20T20:10:28.478Z,1758399028.478 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:28.728Z,1758399028.728 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:28.856Z,1758399028.856 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:28.858Z,1758399028.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.10 m.
2025-09-20T20:10:28.861Z,1758399028.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.101128 m,
nav range: 98.492065 m,
bearing: 253.869722 deg,
approach rate: -0.585203 m/s,
LOS rate: 0.018766 deg/s,
cmd heading: 260.187013 deg,
new cmd heading: 260.204915 deg.
2025-09-20T20:10:28.862Z,1758399028.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541432 target range: 108.101128 and range: 108.50 m.
2025-09-20T20:10:28.986Z,1758399028.986 [DAT](INFO): DAT read: 20:10:30.5486 LVL= 32752, 29345, 27874, 32755, AGC= 64, IDX= 410,-0.48, 0.843,-1.196, 0.537, 0.446, PHS= 0.500,-1.596, 0.047, RAW= 138.2, 11.0, CAL= 137.6, 12.0, ROT= 12.4, -12.0
2025-09-20T20:10:28.988Z,1758399028.988 [DAT](INFO): got valid direction response:
20:10:30.5486 LVL= 32752, 29345, 27874, 32755, AGC= 64, IDX= 410,-0.48, 0.843,-1.196, 0.537, 0.446, PHS= 0.500,-1.596, 0.047, RAW= 138.2, 11.0, CAL= 137.6, 12.0, ROT= 12.4, -12.0
2025-09-20T20:10:28.989Z,1758399028.989 [DAT](INFO): DAT read: Bearing 49.3, 18.5 (Local)
2025-09-20T20:10:28.989Z,1758399028.989 [DAT](INFO): Local bearing/azimuth received:
Bearing 49.3, 18.5 (Local)
2025-09-20T20:10:28.992Z,1758399028.992 [DAT](INFO): DAT read: Range 11 to 50 : 106.3 m (Round-trip 141.8 ms) speed 0.4 m/s
2025-09-20T20:10:28.993Z,1758399028.993 [DAT](INFO): DAT read: user:142>Tx time:20:10:31.6526
2025-09-20T20:10:28.993Z,1758399028.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:28.994Z,1758399028.994 [DAT](INFO): direction in FSK: [0.955330,0.210043,0.207912]
2025-09-20T20:10:28.994Z,1758399028.994 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:29.001Z,1758399029.001 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:29.001Z,1758399029.001 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:29.119Z,1758399029.119 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:10:29.194Z,1758399029.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 106.300003 m,
deltaT: 3.779933 s,
deltaX: -2.199997 m,
approachRate: -0.582020 m/s,
rangeRepo size: 4
2025-09-20T20:10:29.197Z,1758399029.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 105.903435 m,
bearing: 256.220317 deg,
lat: 36.779346 deg,
lon: -121.859555 deg,
deltaT: 3.779933 s,
deltaX: -2.197693 m,
approachRate: -0.581411 m/s,
posRepo size: 4
2025-09-20T20:10:29.197Z,1758399029.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:29.201Z,1758399029.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 99.070038 m,
bearing: 254.247131 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.018766 deg/s,
cmd heading: 260.204908 deg,
new cmd heading: 260.217497 deg.
2025-09-20T20:10:29.202Z,1758399029.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541652 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:29.233Z,1758399029.233 [DAT](INFO): DAT read:
2025-09-20T20:10:29.233Z,1758399029.233 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:29.484Z,1758399029.484 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:29.666Z,1758399029.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:29.669Z,1758399029.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 98.801857 m,
bearing: 254.250370 deg,
approach rate: -0.581141 m/s,
LOS rate: 0.007038 deg/s,
cmd heading: 260.217503 deg,
new cmd heading: 260.223999 deg.
2025-09-20T20:10:29.670Z,1758399029.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541766 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:29.737Z,1758399029.737 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:29.988Z,1758399029.988 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:30.014Z,1758399030.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:30.017Z,1758399030.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 98.587975 m,
bearing: 254.250235 deg,
approach rate: -0.596223 m/s,
LOS rate: -0.000375 deg/s,
cmd heading: 260.224006 deg,
new cmd heading: 260.223736 deg.
2025-09-20T20:10:30.018Z,1758399030.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541761 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:30.240Z,1758399030.240 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:30.400Z,1758399030.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:30.403Z,1758399030.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 98.364891 m,
bearing: 254.247453 deg,
approach rate: -0.577317 m/s,
LOS rate: -0.007216 deg/s,
cmd heading: 260.223732 deg,
new cmd heading: 260.218156 deg.
2025-09-20T20:10:30.404Z,1758399030.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541664 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:30.492Z,1758399030.492 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:30.744Z,1758399030.744 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:30.833Z,1758399030.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:30.836Z,1758399030.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 98.116844 m,
bearing: 254.240560 deg,
approach rate: -0.573714 m/s,
LOS rate: -0.015984 deg/s,
cmd heading: 260.218159 deg,
new cmd heading: 260.204337 deg.
2025-09-20T20:10:30.836Z,1758399030.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541422 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:30.996Z,1758399030.996 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:31.216Z,1758399031.216 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:31.220Z,1758399031.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:31.244Z,1758399031.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 97.900536 m,
bearing: 254.232126 deg,
approach rate: -0.560566 m/s,
LOS rate: -0.021904 deg/s,
cmd heading: 260.204335 deg,
new cmd heading: 260.187430 deg.
2025-09-20T20:10:31.245Z,1758399031.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.541127 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:31.248Z,1758399031.248 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:31.500Z,1758399031.500 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:31.638Z,1758399031.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:31.665Z,1758399031.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 97.666801 m,
bearing: 254.220357 deg,
approach rate: -0.561966 m/s,
LOS rate: -0.028365 deg/s,
cmd heading: 260.187423 deg,
new cmd heading: 260.163828 deg.
2025-09-20T20:10:31.674Z,1758399031.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540715 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:31.753Z,1758399031.753 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:32.004Z,1758399032.004 [DAT](INFO): DAT read: Rx Time:20:10:34.1959
2025-09-20T20:10:32.005Z,1758399032.005 [DAT](INFO): Rx dataTimestamp_ set to:1758399032.004312
2025-09-20T20:10:32.005Z,1758399032.005 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:32.069Z,1758399032.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:32.078Z,1758399032.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 97.417267 m,
bearing: 254.207190 deg,
approach rate: -0.574466 m/s,
LOS rate: -0.030391 deg/s,
cmd heading: 260.163818 deg,
new cmd heading: 260.137416 deg.
2025-09-20T20:10:32.079Z,1758399032.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.540255 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:32.256Z,1758399032.256 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:32.502Z,1758399032.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.90 m.
2025-09-20T20:10:32.505Z,1758399032.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 105.903435 m,
nav range: 97.184814 m,
bearing: 254.194862 deg,
approach rate: -0.537006 m/s,
LOS rate: -0.028546 deg/s,
cmd heading: 260.137426 deg,
new cmd heading: 260.112713 deg.
2025-09-20T20:10:32.506Z,1758399032.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539823 target range: 105.903435 and range: 106.30 m.
2025-09-20T20:10:32.514Z,1758399032.514 [DAT](INFO): DAT read: 20:10:34.1959 LVL= 27264, 28657, 23506, 30323, AGC= 65, IDX= 414, 0.01, 0.699,-1.104, 0.716, 0.430, PHS= 0.372,-1.489, 0.243, RAW= 146.4, 9.7, CAL= 146.0, 10.6, ROT= 4.0, -10.6
2025-09-20T20:10:32.515Z,1758399032.515 [DAT](INFO): got valid direction response:
20:10:34.1959 LVL= 27264, 28657, 23506, 30323, AGC= 65, IDX= 414, 0.01, 0.699,-1.104, 0.716, 0.430, PHS= 0.372,-1.489, 0.243, RAW= 146.4, 9.7, CAL= 146.0, 10.6, ROT= 4.0, -10.6
2025-09-20T20:10:32.516Z,1758399032.516 [DAT](INFO): DAT read: Bearing 59.1, 10.4 (Local)
2025-09-20T20:10:32.516Z,1758399032.516 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.1, 10.4 (Local)
2025-09-20T20:10:32.518Z,1758399032.518 [DAT](INFO): DAT read: Range 11 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.6 m/s
2025-09-20T20:10:32.519Z,1758399032.519 [DAT](INFO): DAT read: Tx time:20:10:35.2604
2025-09-20T20:10:32.519Z,1758399032.519 [DAT](INFO): Ping request sent.
2025-09-20T20:10:32.519Z,1758399032.519 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:10:32.519Z,1758399032.519 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:32.520Z,1758399032.520 [DAT](INFO): direction in FSK: [0.980541,0.068566,0.183951]
2025-09-20T20:10:32.521Z,1758399032.521 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:32.521Z,1758399032.521 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:32.528Z,1758399032.528 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:32.528Z,1758399032.528 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:32.908Z,1758399032.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 104.400002 m,
deltaT: 3.528107 s,
deltaX: -1.900002 m,
approachRate: -0.538533 m/s,
rangeRepo size: 4
2025-09-20T20:10:32.910Z,1758399032.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.009300 m,
bearing: 257.650689 deg,
lat: 36.779353 deg,
lon: -121.859555 deg,
deltaT: 3.528107 s,
deltaX: -1.894135 m,
approachRate: -0.536870 m/s,
posRepo size: 4
2025-09-20T20:10:32.911Z,1758399032.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:32.914Z,1758399032.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 96.711060 m,
bearing: 254.661021 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.028546 deg/s,
cmd heading: 260.112701 deg,
new cmd heading: 260.089526 deg.
2025-09-20T20:10:32.915Z,1758399032.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.539419 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:33.246Z,1758399033.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:33.248Z,1758399033.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:33.251Z,1758399033.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 96.513962 m,
bearing: 254.646935 deg,
approach rate: -0.578750 m/s,
LOS rate: -0.041447 deg/s,
cmd heading: 260.089533 deg,
new cmd heading: 260.061303 deg.
2025-09-20T20:10:33.252Z,1758399033.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538926 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:33.264Z,1758399033.264 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:33.264Z,1758399033.264 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:33.264Z,1758399033.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:33.518Z,1758399033.518 [DAT](INFO): DAT read: user:143>
2025-09-20T20:10:33.518Z,1758399033.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999315
2025-09-20T20:10:33.648Z,1758399033.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:33.658Z,1758399033.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 96.287926 m,
bearing: 254.628926 deg,
approach rate: -0.567913 m/s,
LOS rate: -0.045353 deg/s,
cmd heading: 260.061310 deg,
new cmd heading: 260.025208 deg.
2025-09-20T20:10:33.662Z,1758399033.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.538296 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:33.769Z,1758399033.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249629
2025-09-20T20:10:34.020Z,1758399034.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500992
2025-09-20T20:10:34.075Z,1758399034.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:34.078Z,1758399034.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 96.047539 m,
bearing: 254.606911 deg,
approach rate: -0.561133 m/s,
LOS rate: -0.051517 deg/s,
cmd heading: 260.025220 deg,
new cmd heading: 259.981080 deg.
2025-09-20T20:10:34.079Z,1758399034.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.537526 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:34.272Z,1758399034.272 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752878
2025-09-20T20:10:34.442Z,1758399034.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:34.445Z,1758399034.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 95.821404 m,
bearing: 254.584623 deg,
approach rate: -0.616088 m/s,
LOS rate: -0.060867 deg/s,
cmd heading: 259.981069 deg,
new cmd heading: 259.936387 deg.
2025-09-20T20:10:34.446Z,1758399034.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.536746 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:34.525Z,1758399034.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005673
2025-09-20T20:10:34.776Z,1758399034.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257370
2025-09-20T20:10:34.882Z,1758399034.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:34.888Z,1758399034.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 95.563240 m,
bearing: 254.556695 deg,
approach rate: -0.586728 m/s,
LOS rate: -0.063642 deg/s,
cmd heading: 259.936400 deg,
new cmd heading: 259.880394 deg.
2025-09-20T20:10:34.889Z,1758399034.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.535769 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:35.028Z,1758399035.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508869
2025-09-20T20:10:35.269Z,1758399035.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:35.271Z,1758399035.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:35.273Z,1758399035.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 95.321999 m,
bearing: 254.529145 deg,
approach rate: -0.619976 m/s,
LOS rate: -0.070983 deg/s,
cmd heading: 259.880392 deg,
new cmd heading: 259.825151 deg.
2025-09-20T20:10:35.274Z,1758399035.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.534804 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:35.280Z,1758399035.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761077
2025-09-20T20:10:35.532Z,1758399035.532 [DAT](INFO): DAT read: Rx Time:20:10:37.8008
2025-09-20T20:10:35.533Z,1758399035.533 [DAT](INFO): Rx dataTimestamp_ set to:1758399035.532249
2025-09-20T20:10:35.533Z,1758399035.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013971
2025-09-20T20:10:35.663Z,1758399035.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:35.666Z,1758399035.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 95.074089 m,
bearing: 254.499506 deg,
approach rate: -0.631617 m/s,
LOS rate: -0.075709 deg/s,
cmd heading: 259.825150 deg,
new cmd heading: 259.765719 deg.
2025-09-20T20:10:35.667Z,1758399035.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.533767 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:35.785Z,1758399035.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265842
2025-09-20T20:10:36.039Z,1758399036.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519548
2025-09-20T20:10:36.150Z,1758399036.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.01 m.
2025-09-20T20:10:36.157Z,1758399036.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.009300 m,
nav range: 94.769905 m,
bearing: 254.466172 deg,
approach rate: -0.625197 m/s,
LOS rate: -0.068732 deg/s,
cmd heading: 259.765727 deg,
new cmd heading: 259.698845 deg.
2025-09-20T20:10:36.158Z,1758399036.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.532600 target range: 104.009300 and range: 104.40 m.
2025-09-20T20:10:36.306Z,1758399036.306 [DAT](INFO): DAT read: 20:10:37.8008 LVL= 26528, 29585, 24482, 30803, AGC= 64, IDX= 160, 0.15,-1.317,-2.883,-0.884,-1.395, PHS= 0.180,-1.443, 0.467, RAW= 158.0, 9.0, CAL= 157.7, 9.5, ROT= 352.3, -9.5
2025-09-20T20:10:36.308Z,1758399036.308 [DAT](INFO): got valid direction response:
20:10:37.8008 LVL= 26528, 29585, 24482, 30803, AGC= 64, IDX= 160, 0.15,-1.317,-2.883,-0.884,-1.395, PHS= 0.180,-1.443, 0.467, RAW= 158.0, 9.0, CAL= 157.7, 9.5, ROT= 352.3, -9.5
2025-09-20T20:10:36.309Z,1758399036.309 [DAT](INFO): DAT read: Bearing 65.5, -1.1 (Local)
2025-09-20T20:10:36.309Z,1758399036.309 [DAT](INFO): Local bearing/azimuth received:
Bearing 65.5, -1.1 (Local)
2025-09-20T20:10:36.311Z,1758399036.311 [DAT](INFO): DAT read: Range 11 to 50 : 102.2 m (Round-trip 136.3 ms) speed 0.6 m/s
2025-09-20T20:10:36.312Z,1758399036.312 [DAT](INFO): DAT read: user:144>Tx time:20:10:38.9026
2025-09-20T20:10:36.312Z,1758399036.312 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:36.313Z,1758399036.313 [DAT](INFO): direction in FSK: [0.977392,-0.132149,0.165048]
2025-09-20T20:10:36.314Z,1758399036.314 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:36.321Z,1758399036.321 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:36.321Z,1758399036.321 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:36.321Z,1758399036.321 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:36.540Z,1758399036.540 [DAT](INFO): DAT read:
2025-09-20T20:10:36.541Z,1758399036.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.021412
2025-09-20T20:10:36.552Z,1758399036.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 102.199997 m,
deltaT: 3.780367 s,
deltaX: -2.200005 m,
approachRate: -0.581955 m/s,
rangeRepo size: 4
2025-09-20T20:10:36.554Z,1758399036.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 101.816185 m,
bearing: 251.374036 deg,
lat: 36.779353 deg,
lon: -121.859577 deg,
deltaT: 3.780367 s,
deltaX: -2.193115 m,
approachRate: -0.580133 m/s,
posRepo size: 4
2025-09-20T20:10:36.555Z,1758399036.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:36.558Z,1758399036.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 96.319588 m,
bearing: 254.736678 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068732 deg/s,
cmd heading: 259.698846 deg,
new cmd heading: 259.643616 deg.
2025-09-20T20:10:36.559Z,1758399036.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.531636 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:36.793Z,1758399036.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273699
2025-09-20T20:10:36.967Z,1758399036.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:36.970Z,1758399036.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 96.039421 m,
bearing: 254.702910 deg,
approach rate: -0.674152 m/s,
LOS rate: -0.081492 deg/s,
cmd heading: 259.643603 deg,
new cmd heading: 259.575870 deg.
2025-09-20T20:10:36.971Z,1758399036.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.530454 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:37.045Z,1758399037.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525642
2025-09-20T20:10:37.296Z,1758399037.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.776870
2025-09-20T20:10:37.345Z,1758399037.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:37.348Z,1758399037.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:37.350Z,1758399037.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 95.787964 m,
bearing: 254.671787 deg,
approach rate: -0.662134 m/s,
LOS rate: -0.082167 deg/s,
cmd heading: 259.575875 deg,
new cmd heading: 259.513467 deg.
2025-09-20T20:10:37.352Z,1758399037.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.529365 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:37.548Z,1758399037.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.028811
2025-09-20T20:10:37.801Z,1758399037.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281583
2025-09-20T20:10:37.872Z,1758399037.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:37.875Z,1758399037.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 95.439758 m,
bearing: 254.630240 deg,
approach rate: -0.663138 m/s,
LOS rate: -0.079413 deg/s,
cmd heading: 259.513475 deg,
new cmd heading: 259.430077 deg.
2025-09-20T20:10:37.876Z,1758399037.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.527909 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:38.052Z,1758399038.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.532819
2025-09-20T20:10:38.218Z,1758399038.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:38.221Z,1758399038.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 95.213654 m,
bearing: 254.603095 deg,
approach rate: -0.654678 m/s,
LOS rate: -0.078783 deg/s,
cmd heading: 259.430064 deg,
new cmd heading: 259.375646 deg.
2025-09-20T20:10:38.222Z,1758399038.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.526959 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:38.305Z,1758399038.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785839
2025-09-20T20:10:38.556Z,1758399038.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.036994
2025-09-20T20:10:38.608Z,1758399038.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:38.615Z,1758399038.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 94.958595 m,
bearing: 254.571746 deg,
approach rate: -0.652425 m/s,
LOS rate: -0.080405 deg/s,
cmd heading: 259.375641 deg,
new cmd heading: 259.312774 deg.
2025-09-20T20:10:38.616Z,1758399038.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.525862 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:38.812Z,1758399038.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.291587
2025-09-20T20:10:39.038Z,1758399039.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:39.041Z,1758399039.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 94.659134 m,
bearing: 254.536168 deg,
approach rate: -0.697104 m/s,
LOS rate: -0.083082 deg/s,
cmd heading: 259.312776 deg,
new cmd heading: 259.241396 deg.
2025-09-20T20:10:39.042Z,1758399039.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.524616 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:39.060Z,1758399039.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.540885
2025-09-20T20:10:39.312Z,1758399039.312 [DAT](INFO): DAT read: Rx Time:20:10:41.4397
2025-09-20T20:10:39.313Z,1758399039.313 [DAT](INFO): Rx dataTimestamp_ set to:1758399039.312246
2025-09-20T20:10:39.313Z,1758399039.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793969
2025-09-20T20:10:39.408Z,1758399039.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:39.410Z,1758399039.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.82 m.
2025-09-20T20:10:39.413Z,1758399039.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 101.816185 m,
nav range: 94.407555 m,
bearing: 254.504743 deg,
approach rate: -0.676179 m/s,
LOS rate: -0.084688 deg/s,
cmd heading: 259.241387 deg,
new cmd heading: 259.178369 deg.
2025-09-20T20:10:39.414Z,1758399039.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.523516 target range: 101.816185 and range: 102.20 m.
2025-09-20T20:10:39.564Z,1758399039.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.044885
2025-09-20T20:10:39.829Z,1758399039.829 [DAT](INFO): DAT read: 20:10:41.4397 LVL= 31680, 30705, 27634, 32755, AGC= 62, IDX= 414, 0.18, 3.111, 1.545,-2.658, 3.080, PHS= 0.133,-1.489, 0.501, RAW= 160.0, 9.4, CAL= 159.9, 9.9, ROT= 350.1, -9.9
2025-09-20T20:10:39.830Z,1758399039.830 [DAT](INFO): got valid direction response:
20:10:41.4397 LVL= 31680, 30705, 27634, 32755, AGC= 62, IDX= 414, 0.18, 3.111, 1.545,-2.658, 3.080, PHS= 0.133,-1.489, 0.501, RAW= 160.0, 9.4, CAL= 159.9, 9.9, ROT= 350.1, -9.9
2025-09-20T20:10:39.831Z,1758399039.831 [DAT](INFO): DAT read: Bearing 68.1, -2.6 (Local)
2025-09-20T20:10:39.835Z,1758399039.835 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.1, -2.6 (Local)
2025-09-20T20:10:39.837Z,1758399039.837 [DAT](INFO): DAT read: Range 11 to 50 : 99.7 m (Round-trip 133.0 ms) speed 0.8 m/s
2025-09-20T20:10:39.838Z,1758399039.838 [DAT](INFO): DAT read: Tx time:20:10:42.5041
2025-09-20T20:10:39.838Z,1758399039.838 [DAT](INFO): Ping request sent.
2025-09-20T20:10:39.838Z,1758399039.838 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:10:39.838Z,1758399039.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:39.844Z,1758399039.844 [DAT](INFO): direction in FSK: [0.970440,-0.169369,0.171929]
2025-09-20T20:10:39.844Z,1758399039.844 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:39.844Z,1758399039.844 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:39.851Z,1758399039.851 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:39.852Z,1758399039.852 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:39.937Z,1758399039.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 99.699997 m,
deltaT: 3.534415 s,
deltaX: -2.500000 m,
approachRate: -0.707331 m/s,
rangeRepo size: 4
2025-09-20T20:10:39.955Z,1758399039.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 99.327477 m,
bearing: 251.154524 deg,
lat: 36.779353 deg,
lon: -121.859577 deg,
deltaT: 3.534415 s,
deltaX: -2.488708 m,
approachRate: -0.704136 m/s,
posRepo size: 4
2025-09-20T20:10:39.956Z,1758399039.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:39.959Z,1758399039.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 94.066681 m,
bearing: 254.463624 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.084688 deg/s,
cmd heading: 259.178358 deg,
new cmd heading: 259.090059 deg.
2025-09-20T20:10:39.964Z,1758399039.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521975 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:40.241Z,1758399040.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:40.244Z,1758399040.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 93.851418 m,
bearing: 254.436980 deg,
approach rate: -0.694965 m/s,
LOS rate: -0.086216 deg/s,
cmd heading: 259.090058 deg,
new cmd heading: 259.036647 deg.
2025-09-20T20:10:40.245Z,1758399040.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.521042 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:40.639Z,1758399040.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:40.641Z,1758399040.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 93.585922 m,
bearing: 254.403684 deg,
approach rate: -0.667751 m/s,
LOS rate: -0.083982 deg/s,
cmd heading: 259.036645 deg,
new cmd heading: 258.969864 deg.
2025-09-20T20:10:40.642Z,1758399040.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.519877 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:41.055Z,1758399041.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:41.058Z,1758399041.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 93.313583 m,
bearing: 254.366732 deg,
approach rate: -0.654406 m/s,
LOS rate: -0.089052 deg/s,
cmd heading: 258.969874 deg,
new cmd heading: 258.895754 deg.
2025-09-20T20:10:41.059Z,1758399041.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.518583 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:41.446Z,1758399041.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:41.448Z,1758399041.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:41.467Z,1758399041.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 93.056435 m,
bearing: 254.331409 deg,
approach rate: -0.653272 m/s,
LOS rate: -0.089983 deg/s,
cmd heading: 258.895752 deg,
new cmd heading: 258.824912 deg.
2025-09-20T20:10:41.468Z,1758399041.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.517347 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:41.588Z,1758399041.588 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:41.588Z,1758399041.588 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:41.589Z,1758399041.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:41.840Z,1758399041.840 [DAT](INFO): DAT read: user:145>
2025-09-20T20:10:41.841Z,1758399041.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002683
2025-09-20T20:10:41.913Z,1758399041.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:41.917Z,1758399041.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 92.751427 m,
bearing: 254.288144 deg,
approach rate: -0.656336 m/s,
LOS rate: -0.093406 deg/s,
cmd heading: 258.824910 deg,
new cmd heading: 258.738095 deg.
2025-09-20T20:10:41.918Z,1758399041.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.515831 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:42.092Z,1758399042.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253803
2025-09-20T20:10:42.274Z,1758399042.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:42.277Z,1758399042.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 92.514801 m,
bearing: 254.254379 deg,
approach rate: -0.655703 m/s,
LOS rate: -0.093805 deg/s,
cmd heading: 258.738084 deg,
new cmd heading: 258.670381 deg.
2025-09-20T20:10:42.278Z,1758399042.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.514650 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:42.344Z,1758399042.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506086
2025-09-20T20:10:42.596Z,1758399042.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757885
2025-09-20T20:10:42.654Z,1758399042.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:42.658Z,1758399042.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 92.266029 m,
bearing: 254.217903 deg,
approach rate: -0.654113 m/s,
LOS rate: -0.096166 deg/s,
cmd heading: 258.670383 deg,
new cmd heading: 258.597236 deg.
2025-09-20T20:10:42.659Z,1758399042.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.513373 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:42.852Z,1758399042.852 [DAT](INFO): DAT read: Rx Time:20:10:45.0380
2025-09-20T20:10:42.852Z,1758399042.852 [DAT](INFO): Rx dataTimestamp_ set to:1758399042.852094
2025-09-20T20:10:42.853Z,1758399042.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014820
2025-09-20T20:10:43.051Z,1758399043.051 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,43. +39 -0.62, 18.49, 0.00
2025-09-20T20:10:43.084Z,1758399043.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.33 m.
2025-09-20T20:10:43.086Z,1758399043.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 99.327477 m,
nav range: 91.996880 m,
bearing: 254.177865 deg,
approach rate: -0.652620 m/s,
LOS rate: -0.097367 deg/s,
cmd heading: 258.597246 deg,
new cmd heading: 258.516935 deg.
2025-09-20T20:10:43.092Z,1758399043.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.511971 target range: 99.327477 and range: 99.70 m.
2025-09-20T20:10:43.100Z,1758399043.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261927
2025-09-20T20:10:43.358Z,1758399043.358 [DAT](INFO): DAT read: 20:10:45.0380 LVL= 30928, 28401, 23186, 32051, AGC= 65, IDX= 157, 0.32,-0.091,-1.668, 0.431,-0.108, PHS= 0.120,-1.514, 0.496, RAW= 160.1, 9.7, CAL= 160.0, 10.5, ROT= 350.0, -10.5
2025-09-20T20:10:43.359Z,1758399043.359 [DAT](INFO): got valid direction response:
20:10:45.0380 LVL= 30928, 28401, 23186, 32051, AGC= 65, IDX= 157, 0.32,-0.091,-1.668, 0.431,-0.108, PHS= 0.120,-1.514, 0.496, RAW= 160.1, 9.7, CAL= 160.0, 10.5, ROT= 350.0, -10.5
2025-09-20T20:10:43.360Z,1758399043.360 [DAT](INFO): DAT read: Bearing 69.0, -2.0 (Local)
2025-09-20T20:10:43.361Z,1758399043.361 [DAT](INFO): Local bearing/azimuth received:
Bearing 69.0, -2.0 (Local)
2025-09-20T20:10:43.362Z,1758399043.362 [DAT](INFO): DAT read: Range 11 to 50 : 97.2 m (Round-trip 129.7 ms) speed 0.7 m/s
2025-09-20T20:10:43.364Z,1758399043.364 [DAT](INFO): DAT read: Tx time:20:10:46.1026
2025-09-20T20:10:43.364Z,1758399043.364 [DAT](INFO): Ping request sent.
2025-09-20T20:10:43.364Z,1758399043.364 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:10:43.364Z,1758399043.364 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:43.365Z,1758399043.365 [DAT](INFO): direction in FSK: [0.968317,-0.170740,0.182236]
2025-09-20T20:10:43.365Z,1758399043.365 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:43.366Z,1758399043.366 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:43.369Z,1758399043.369 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:43.369Z,1758399043.369 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:43.497Z,1758399043.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 97.199997 m,
deltaT: 3.529587 s,
deltaX: -2.500000 m,
approachRate: -0.708298 m/s,
rangeRepo size: 4
2025-09-20T20:10:43.504Z,1758399043.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 96.834412 m,
bearing: 252.114533 deg,
lat: 36.779326 deg,
lon: -121.859577 deg,
deltaT: 3.529587 s,
deltaX: -2.493065 m,
approachRate: -0.706333 m/s,
posRepo size: 4
2025-09-20T20:10:43.504Z,1758399043.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:43.511Z,1758399043.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 92.608826 m,
bearing: 252.317358 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.097367 deg/s,
cmd heading: 258.516923 deg,
new cmd heading: 258.433206 deg.
2025-09-20T20:10:43.512Z,1758399043.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.510510 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:43.913Z,1758399043.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:43.915Z,1758399043.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:43.918Z,1758399043.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 92.331963 m,
bearing: 252.267455 deg,
approach rate: -0.662385 m/s,
LOS rate: -0.119749 deg/s,
cmd heading: 258.433212 deg,
new cmd heading: 258.333107 deg.
2025-09-20T20:10:43.936Z,1758399043.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.508763 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:44.108Z,1758399044.108 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:44.108Z,1758399044.108 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:44.108Z,1758399044.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:44.271Z,1758399044.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:44.274Z,1758399044.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 92.104309 m,
bearing: 252.225898 deg,
approach rate: -0.638835 m/s,
LOS rate: -0.116903 deg/s,
cmd heading: 258.333109 deg,
new cmd heading: 258.249790 deg.
2025-09-20T20:10:44.275Z,1758399044.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.507309 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:44.360Z,1758399044.360 [DAT](INFO): DAT read: user:146>
2025-09-20T20:10:44.361Z,1758399044.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996662
2025-09-20T20:10:44.613Z,1758399044.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248726
2025-09-20T20:10:44.698Z,1758399044.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:44.705Z,1758399044.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 91.838524 m,
bearing: 252.176914 deg,
approach rate: -0.622795 m/s,
LOS rate: -0.115113 deg/s,
cmd heading: 258.249780 deg,
new cmd heading: 258.151528 deg.
2025-09-20T20:10:44.723Z,1758399044.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.505594 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:44.865Z,1758399044.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500631
2025-09-20T20:10:45.116Z,1758399045.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752062
2025-09-20T20:10:45.142Z,1758399045.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:45.145Z,1758399045.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 91.551430 m,
bearing: 252.124399 deg,
approach rate: -0.645611 m/s,
LOS rate: -0.118465 deg/s,
cmd heading: 258.151535 deg,
new cmd heading: 258.046175 deg.
2025-09-20T20:10:45.146Z,1758399045.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.503756 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:45.369Z,1758399045.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004512
2025-09-20T20:10:45.620Z,1758399045.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256136
2025-09-20T20:10:45.655Z,1758399045.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:45.661Z,1758399045.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 91.235825 m,
bearing: 252.065524 deg,
approach rate: -0.616154 m/s,
LOS rate: -0.115339 deg/s,
cmd heading: 258.046186 deg,
new cmd heading: 257.928028 deg.
2025-09-20T20:10:45.662Z,1758399045.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.501693 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:45.875Z,1758399045.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509993
2025-09-20T20:10:46.058Z,1758399046.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:46.061Z,1758399046.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:46.064Z,1758399046.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 90.971146 m,
bearing: 252.015108 deg,
approach rate: -0.652050 m/s,
LOS rate: -0.124563 deg/s,
cmd heading: 257.928024 deg,
new cmd heading: 257.826899 deg.
2025-09-20T20:10:46.065Z,1758399046.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.499928 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:46.125Z,1758399046.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760711
2025-09-20T20:10:46.376Z,1758399046.376 [DAT](INFO): DAT read: Rx Time:20:10:48.6335
2025-09-20T20:10:46.377Z,1758399046.377 [DAT](INFO): Rx dataTimestamp_ set to:1758399046.376225
2025-09-20T20:10:46.377Z,1758399046.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013111
2025-09-20T20:10:46.466Z,1758399046.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:46.481Z,1758399046.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 90.713600 m,
bearing: 251.965749 deg,
approach rate: -0.634545 m/s,
LOS rate: -0.121957 deg/s,
cmd heading: 257.826910 deg,
new cmd heading: 257.727911 deg.
2025-09-20T20:10:46.482Z,1758399046.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.498200 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:46.628Z,1758399046.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264016
2025-09-20T20:10:46.887Z,1758399046.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522416
2025-09-20T20:10:46.968Z,1758399046.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.83 m.
2025-09-20T20:10:46.971Z,1758399046.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.834412 m,
nav range: 90.384735 m,
bearing: 251.903780 deg,
approach rate: -0.655204 m/s,
LOS rate: -0.123911 deg/s,
cmd heading: 257.727899 deg,
new cmd heading: 257.603510 deg.
2025-09-20T20:10:46.972Z,1758399046.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.496029 target range: 96.834412 and range: 97.20 m.
2025-09-20T20:10:47.138Z,1758399047.138 [DAT](INFO): DAT read: 20:10:48.6335 LVL= 26960, 32753, 22994, 32755, AGC= 65, IDX= 415, 0.14,-0.657,-2.197,-0.146,-0.697, PHS= 0.142,-1.455, 0.507, RAW= 160.1, 9.0, CAL= 159.9, 9.4, ROT= 350.1, -9.4
2025-09-20T20:10:47.139Z,1758399047.139 [DAT](INFO): got valid direction response:
20:10:48.6335 LVL= 26960, 32753, 22994, 32755, AGC= 65, IDX= 415, 0.14,-0.657,-2.197,-0.146,-0.697, PHS= 0.142,-1.455, 0.507, RAW= 160.1, 9.0, CAL= 159.9, 9.4, ROT= 350.1, -9.4
2025-09-20T20:10:47.140Z,1758399047.140 [DAT](INFO): DAT read: Bearing 68.4, -0.9 (Local)
2025-09-20T20:10:47.140Z,1758399047.140 [DAT](INFO): Local bearing/azimuth received:
Bearing 68.4, -0.9 (Local)
2025-09-20T20:10:47.141Z,1758399047.141 [DAT](INFO): DAT read: Range 11 to 50 : 95.1 m (Round-trip 126.8 ms) speed 0.6 m/s
2025-09-20T20:10:47.142Z,1758399047.142 [DAT](INFO): DAT read: Tx time:20:10:49.7026
2025-09-20T20:10:47.143Z,1758399047.143 [DAT](INFO): Ping request sent.
2025-09-20T20:10:47.144Z,1758399047.144 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:10:47.144Z,1758399047.144 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:47.145Z,1758399047.145 [DAT](INFO): direction in FSK: [0.971881,-0.169620,0.163326]
2025-09-20T20:10:47.145Z,1758399047.145 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:47.145Z,1758399047.145 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:47.149Z,1758399047.149 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:47.149Z,1758399047.149 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:47.301Z,1758399047.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 95.099998 m,
deltaT: 3.779501 s,
deltaX: -2.099998 m,
approachRate: -0.555628 m/s,
rangeRepo size: 4
2025-09-20T20:10:47.303Z,1758399047.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 94.741524 m,
bearing: 252.815407 deg,
lat: 36.779326 deg,
lon: -121.859577 deg,
deltaT: 3.779501 s,
deltaX: -2.092888 m,
approachRate: -0.553747 m/s,
posRepo size: 4
2025-09-20T20:10:47.308Z,1758399047.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:47.310Z,1758399047.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 90.226349 m,
bearing: 251.874653 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.123911 deg/s,
cmd heading: 257.603508 deg,
new cmd heading: 257.521324 deg.
2025-09-20T20:10:47.319Z,1758399047.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.494595 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:47.648Z,1758399047.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:47.650Z,1758399047.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 89.984833 m,
bearing: 251.828848 deg,
approach rate: -0.694189 m/s,
LOS rate: -0.132010 deg/s,
cmd heading: 257.521327 deg,
new cmd heading: 257.429472 deg.
2025-09-20T20:10:47.673Z,1758399047.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.492992 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:48.073Z,1758399048.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:48.075Z,1758399048.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:48.078Z,1758399048.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 89.701744 m,
bearing: 251.774539 deg,
approach rate: -0.663012 m/s,
LOS rate: -0.127597 deg/s,
cmd heading: 257.429475 deg,
new cmd heading: 257.320514 deg.
2025-09-20T20:10:48.079Z,1758399048.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.491090 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:48.140Z,1758399048.140 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:48.141Z,1758399048.141 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:48.141Z,1758399048.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:48.392Z,1758399048.392 [DAT](INFO): DAT read: user:147>
2025-09-20T20:10:48.393Z,1758399048.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249757
2025-09-20T20:10:48.487Z,1758399048.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:48.490Z,1758399048.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 89.432953 m,
bearing: 251.723060 deg,
approach rate: -0.665028 m/s,
LOS rate: -0.127750 deg/s,
cmd heading: 257.320519 deg,
new cmd heading: 257.217251 deg.
2025-09-20T20:10:48.491Z,1758399048.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.489288 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:48.644Z,1758399048.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501329
2025-09-20T20:10:48.899Z,1758399048.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755461
2025-09-20T20:10:48.997Z,1758399048.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:48.000Z,1758399049.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 89.079582 m,
bearing: 251.654019 deg,
approach rate: -0.682050 m/s,
LOS rate: -0.133787 deg/s,
cmd heading: 257.217247 deg,
new cmd heading: 257.078617 deg.
2025-09-20T20:10:49.001Z,1758399049.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.486868 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:49.148Z,1758399049.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005426
2025-09-20T20:10:49.312Z,1758399049.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:49.314Z,1758399049.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 88.865211 m,
bearing: 251.611854 deg,
approach rate: -0.681557 m/s,
LOS rate: -0.134378 deg/s,
cmd heading: 257.078621 deg,
new cmd heading: 256.994089 deg.
2025-09-20T20:10:49.316Z,1758399049.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.485393 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:49.401Z,1758399049.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258197
2025-09-20T20:10:49.652Z,1758399049.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509180
2025-09-20T20:10:49.709Z,1758399049.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:49.712Z,1758399049.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 88.585312 m,
bearing: 251.557088 deg,
approach rate: -0.704239 m/s,
LOS rate: -0.138230 deg/s,
cmd heading: 256.994091 deg,
new cmd heading: 256.884213 deg.
2025-09-20T20:10:49.713Z,1758399049.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.483475 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:49.907Z,1758399049.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763846
2025-09-20T20:10:50.130Z,1758399050.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:50.132Z,1758399050.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:50.135Z,1758399050.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 88.293991 m,
bearing: 251.496945 deg,
approach rate: -0.688547 m/s,
LOS rate: -0.142620 deg/s,
cmd heading: 256.884207 deg,
new cmd heading: 256.763524 deg.
2025-09-20T20:10:50.136Z,1758399050.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.481369 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:50.156Z,1758399050.156 [DAT](INFO): DAT read: Rx Time:20:10:52.2303
2025-09-20T20:10:50.157Z,1758399050.157 [DAT](INFO): Rx dataTimestamp_ set to:1758399050.156277
2025-09-20T20:10:50.157Z,1758399050.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014358
2025-09-20T20:10:50.408Z,1758399050.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265136
2025-09-20T20:10:50.573Z,1758399050.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.74 m.
2025-09-20T20:10:50.576Z,1758399050.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 94.741524 m,
nav range: 87.989532 m,
bearing: 251.434129 deg,
approach rate: -0.690285 m/s,
LOS rate: -0.142913 deg/s,
cmd heading: 256.763531 deg,
new cmd heading: 256.637465 deg.
2025-09-20T20:10:50.577Z,1758399050.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.479169 target range: 94.741524 and range: 95.10 m.
2025-09-20T20:10:50.672Z,1758399050.672 [DAT](INFO): DAT read: 20:10:52.2303 LVL= 30800, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.03,-0.785,-2.317,-0.249,-0.837, PHS= 0.153,-1.435, 0.543, RAW= 160.7, 8.2, CAL= 160.4, 8.4, ROT= 349.6, -8.4
2025-09-20T20:10:50.673Z,1758399050.673 [DAT](INFO): got valid direction response:
20:10:52.2303 LVL= 30800, 32753, 32754, 32755, AGC= 65, IDX= 414, 0.03,-0.785,-2.317,-0.249,-0.837, PHS= 0.153,-1.435, 0.543, RAW= 160.7, 8.2, CAL= 160.4, 8.4, ROT= 349.6, -8.4
2025-09-20T20:10:50.682Z,1758399050.682 [DAT](INFO): DAT read: Bearing 66.5, -1.1 (Local)
2025-09-20T20:10:50.687Z,1758399050.687 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.5, -1.1 (Local)
2025-09-20T20:10:50.690Z,1758399050.690 [DAT](INFO): DAT read: Range 11 to 50 : 92.7 m (Round-trip 123.6 ms) speed 0.5 m/s
2025-09-20T20:10:50.696Z,1758399050.696 [DAT](INFO): DAT read: user:148>Tx time:20:10:53.3026
2025-09-20T20:10:50.696Z,1758399050.696 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:50.697Z,1758399050.697 [DAT](INFO): direction in FSK: [0.973020,-0.178582,0.146083]
2025-09-20T20:10:50.697Z,1758399050.697 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:50.707Z,1758399050.707 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:50.707Z,1758399050.707 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:50.708Z,1758399050.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:50.914Z,1758399050.914 [DAT](INFO): DAT read:
2025-09-20T20:10:50.917Z,1758399050.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773403
2025-09-20T20:10:50.988Z,1758399050.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.699997 m,
deltaT: 3.528128 s,
deltaX: -2.400002 m,
approachRate: -0.680248 m/s,
rangeRepo size: 4
2025-09-20T20:10:50.996Z,1758399050.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 92.350624 m,
bearing: 251.655394 deg,
lat: 36.779326 deg,
lon: -121.859577 deg,
deltaT: 3.528128 s,
deltaX: -2.390900 m,
approachRate: -0.677668 m/s,
posRepo size: 4
2025-09-20T20:10:50.997Z,1758399050.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:51.004Z,1758399051.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 87.721016 m,
bearing: 251.378704 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.142913 deg/s,
cmd heading: 256.637473 deg,
new cmd heading: 256.520380 deg.
2025-09-20T20:10:51.005Z,1758399051.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.477125 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:51.165Z,1758399051.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.022368
2025-09-20T20:10:51.354Z,1758399051.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:51.356Z,1758399051.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 87.448128 m,
bearing: 251.324800 deg,
approach rate: -0.736371 m/s,
LOS rate: -0.145912 deg/s,
cmd heading: 256.520376 deg,
new cmd heading: 256.412231 deg.
2025-09-20T20:10:51.357Z,1758399051.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.475238 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:51.417Z,1758399051.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.274026
2025-09-20T20:10:51.670Z,1758399051.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.526699
2025-09-20T20:10:51.756Z,1758399051.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:51.759Z,1758399051.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 87.167084 m,
bearing: 251.268913 deg,
approach rate: -0.698249 m/s,
LOS rate: -0.139297 deg/s,
cmd heading: 256.412241 deg,
new cmd heading: 256.300108 deg.
2025-09-20T20:10:51.760Z,1758399051.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.473281 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:51.923Z,1758399051.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.779762
2025-09-20T20:10:52.155Z,1758399052.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:52.157Z,1758399052.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:52.162Z,1758399052.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 86.887100 m,
bearing: 251.212497 deg,
approach rate: -0.697790 m/s,
LOS rate: -0.141057 deg/s,
cmd heading: 256.300117 deg,
new cmd heading: 256.186920 deg.
2025-09-20T20:10:52.173Z,1758399052.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.029928
2025-09-20T20:10:52.185Z,1758399052.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.471305 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:52.425Z,1758399052.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281969
2025-09-20T20:10:52.557Z,1758399052.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:52.560Z,1758399052.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 86.620331 m,
bearing: 251.158832 deg,
approach rate: -0.667239 m/s,
LOS rate: -0.134640 deg/s,
cmd heading: 256.186927 deg,
new cmd heading: 256.079266 deg.
2025-09-20T20:10:52.561Z,1758399052.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.469426 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:52.677Z,1758399052.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.534320
2025-09-20T20:10:52.932Z,1758399052.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.788648
2025-09-20T20:10:53.028Z,1758399053.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:53.031Z,1758399053.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 86.283890 m,
bearing: 251.093683 deg,
approach rate: -0.714015 m/s,
LOS rate: -0.138802 deg/s,
cmd heading: 256.079256 deg,
new cmd heading: 255.948450 deg.
2025-09-20T20:10:53.032Z,1758399053.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.467143 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:53.181Z,1758399053.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.038236
2025-09-20T20:10:53.353Z,1758399053.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:53.356Z,1758399053.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 86.060524 m,
bearing: 251.050460 deg,
approach rate: -0.687664 m/s,
LOS rate: -0.133413 deg/s,
cmd heading: 255.948444 deg,
new cmd heading: 255.861774 deg.
2025-09-20T20:10:53.357Z,1758399053.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.465631 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:53.432Z,1758399053.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289303
2025-09-20T20:10:53.686Z,1758399053.686 [DAT](INFO): DAT read: Rx Time:20:10:55.8268
2025-09-20T20:10:53.686Z,1758399053.686 [DAT](INFO): Rx dataTimestamp_ set to:1758399053.686001
2025-09-20T20:10:53.688Z,1758399053.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.544501
2025-09-20T20:10:53.761Z,1758399053.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.35 m.
2025-09-20T20:10:53.764Z,1758399053.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 92.350624 m,
nav range: 85.780113 m,
bearing: 250.996379 deg,
approach rate: -0.687573 m/s,
LOS rate: -0.133041 deg/s,
cmd heading: 255.861782 deg,
new cmd heading: 255.753267 deg.
2025-09-20T20:10:53.765Z,1758399053.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.463737 target range: 92.350624 and range: 92.70 m.
2025-09-20T20:10:53.936Z,1758399053.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.793315
2025-09-20T20:10:54.199Z,1758399054.199 [DAT](INFO): DAT read: 20:10:55.8268 LVL= 29152, 30705, 22834, 32755, AGC= 64, IDX= 410, 0.19, 2.972, 1.412,-2.778, 2.927, PHS= 0.147,-1.470, 0.534, RAW= 160.5, 8.6, CAL= 160.2, 9.0, ROT= 349.8, -9.0
2025-09-20T20:10:54.200Z,1758399054.200 [DAT](INFO): got valid direction response:
20:10:55.8268 LVL= 29152, 30705, 22834, 32755, AGC= 64, IDX= 410, 0.19, 2.972, 1.412,-2.778, 2.927, PHS= 0.147,-1.470, 0.534, RAW= 160.5, 8.6, CAL= 160.2, 9.0, ROT= 349.8, -9.0
2025-09-20T20:10:54.201Z,1758399054.201 [DAT](INFO): DAT read: Bearing 66.0, -0.8 (Local)
2025-09-20T20:10:54.201Z,1758399054.201 [DAT](INFO): Local bearing/azimuth received:
Bearing 66.0, -0.8 (Local)
2025-09-20T20:10:54.207Z,1758399054.207 [DAT](INFO): DAT read: Range 11 to 50 : 90.0 m (Round-trip 120.1 ms) speed 0.6 m/s
2025-09-20T20:10:54.208Z,1758399054.208 [DAT](INFO): DAT read: user:149>Tx time:20:10:56.9026
2025-09-20T20:10:54.209Z,1758399054.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:54.210Z,1758399054.210 [DAT](INFO): direction in FSK: [0.972079,-0.174905,0.156434]
2025-09-20T20:10:54.210Z,1758399054.210 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:54.237Z,1758399054.237 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:54.238Z,1758399054.238 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:54.238Z,1758399054.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:54.258Z,1758399054.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.000000 m,
deltaT: 3.528877 s,
deltaX: -2.699997 m,
approachRate: -0.765115 m/s,
rangeRepo size: 4
2025-09-20T20:10:54.265Z,1758399054.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.659904 m,
bearing: 250.839131 deg,
lat: 36.779327 deg,
lon: -121.859568 deg,
deltaT: 3.528877 s,
deltaX: -2.690720 m,
approachRate: -0.762486 m/s,
posRepo size: 4
2025-09-20T20:10:54.266Z,1758399054.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:54.281Z,1758399054.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 84.702225 m,
bearing: 250.840667 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.133041 deg/s,
cmd heading: 255.753264 deg,
new cmd heading: 255.621165 deg.
2025-09-20T20:10:54.282Z,1758399054.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.461431 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:54.440Z,1758399054.440 [DAT](INFO): DAT read:
2025-09-20T20:10:54.441Z,1758399054.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297823
2025-09-20T20:10:54.631Z,1758399054.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:54.633Z,1758399054.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:54.636Z,1758399054.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 84.396149 m,
bearing: 250.781780 deg,
approach rate: -0.814955 m/s,
LOS rate: -0.157361 deg/s,
cmd heading: 255.621168 deg,
new cmd heading: 255.502967 deg.
2025-09-20T20:10:54.637Z,1758399054.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.459368 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:54.692Z,1758399054.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.549457
2025-09-20T20:10:54.947Z,1758399054.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.803645
2025-09-20T20:10:55.058Z,1758399055.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:55.061Z,1758399055.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 84.103851 m,
bearing: 250.728501 deg,
approach rate: -0.687173 m/s,
LOS rate: -0.125690 deg/s,
cmd heading: 255.502979 deg,
new cmd heading: 255.396051 deg.
2025-09-20T20:10:55.062Z,1758399055.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.457502 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:55.197Z,1758399055.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.054018
2025-09-20T20:10:55.443Z,1758399055.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:55.446Z,1758399055.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 83.839554 m,
bearing: 250.680622 deg,
approach rate: -0.687224 m/s,
LOS rate: -0.124886 deg/s,
cmd heading: 255.396045 deg,
new cmd heading: 255.299986 deg.
2025-09-20T20:10:55.448Z,1758399055.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305396
2025-09-20T20:10:55.447Z,1758399055.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.455825 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:55.700Z,1758399055.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557366
2025-09-20T20:10:55.858Z,1758399055.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:55.861Z,1758399055.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 83.554230 m,
bearing: 250.629205 deg,
approach rate: -0.687159 m/s,
LOS rate: -0.124255 deg/s,
cmd heading: 255.299986 deg,
new cmd heading: 255.196799 deg.
2025-09-20T20:10:55.862Z,1758399055.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.454024 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:55.952Z,1758399055.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809390
2025-09-20T20:10:56.204Z,1758399056.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.061326
2025-09-20T20:10:56.287Z,1758399056.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:56.290Z,1758399056.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 83.269836 m,
bearing: 250.576046 deg,
approach rate: -0.688560 m/s,
LOS rate: -0.129146 deg/s,
cmd heading: 255.196795 deg,
new cmd heading: 255.090114 deg.
2025-09-20T20:10:56.295Z,1758399056.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.452162 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:56.456Z,1758399056.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313158
2025-09-20T20:10:56.685Z,1758399056.685 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:56.688Z,1758399056.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:56.691Z,1758399056.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 82.986626 m,
bearing: 250.522733 deg,
approach rate: -0.679707 m/s,
LOS rate: -0.128386 deg/s,
cmd heading: 255.090108 deg,
new cmd heading: 254.983120 deg.
2025-09-20T20:10:56.692Z,1758399056.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.450295 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:56.733Z,1758399056.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590611
2025-09-20T20:10:56.987Z,1758399056.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.843456
2025-09-20T20:10:57.091Z,1758399057.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:57.109Z,1758399057.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 82.708702 m,
bearing: 250.468909 deg,
approach rate: -0.689971 m/s,
LOS rate: -0.134073 deg/s,
cmd heading: 254.983119 deg,
new cmd heading: 254.875109 deg.
2025-09-20T20:10:57.110Z,1758399057.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.448410 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:57.237Z,1758399057.237 [DAT](INFO): DAT read: Rx Time:20:10:59.4236
2025-09-20T20:10:57.237Z,1758399057.237 [DAT](INFO): Rx dataTimestamp_ set to:1758399057.236776
2025-09-20T20:10:57.238Z,1758399057.238 [DAT](INFO): Reached modem response timeout
2025-09-20T20:10:57.238Z,1758399057.238 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:57.238Z,1758399057.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:57.472Z,1758399057.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.66 m.
2025-09-20T20:10:57.474Z,1758399057.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.659904 m,
nav range: 82.449455 m,
bearing: 250.418941 deg,
approach rate: -0.680009 m/s,
LOS rate: -0.131478 deg/s,
cmd heading: 254.875121 deg,
new cmd heading: 254.774871 deg.
2025-09-20T20:10:57.484Z,1758399057.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.446661 target range: 89.659904 and range: 90.00 m.
2025-09-20T20:10:57.488Z,1758399057.488 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:10:57.746Z,1758399057.746 [DAT](INFO): DAT read: 20:10:59.4236 LVL= 29984, 32753, 25682, 32755, AGC= 63, IDX= 409,-0.31,-1.815, 2.924,-1.323,-1.859, PHS= 0.146,-1.455, 0.492, RAW= 159.6, 9.1, CAL= 159.4, 9.6, ROT= 350.6, -9.6
2025-09-20T20:10:57.747Z,1758399057.747 [DAT](INFO): got valid direction response:
20:10:59.4236 LVL= 29984, 32753, 25682, 32755, AGC= 63, IDX= 409,-0.31,-1.815, 2.924,-1.323,-1.859, PHS= 0.146,-1.455, 0.492, RAW= 159.6, 9.1, CAL= 159.4, 9.6, ROT= 350.6, -9.6
2025-09-20T20:10:57.748Z,1758399057.748 [DAT](INFO): DAT read: Bearing 64.5, 0.3 (Local)
2025-09-20T20:10:57.748Z,1758399057.748 [DAT](INFO): Local bearing/azimuth received:
Bearing 64.5, 0.3 (Local)
2025-09-20T20:10:57.750Z,1758399057.750 [DAT](INFO): DAT read: Range 11 to 50 : 87.6 m (Round-trip 116.8 ms) speed 0.4 m/s
2025-09-20T20:10:57.751Z,1758399057.751 [DAT](INFO): DAT read: user:150>
2025-09-20T20:10:57.751Z,1758399057.751 [DAT](INFO): DAT read: Tx time:20:11:00.5026
2025-09-20T20:10:57.752Z,1758399057.752 [DAT](INFO): Ping request sent.
2025-09-20T20:10:57.752Z,1758399057.752 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:10:57.752Z,1758399057.752 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:10:57.753Z,1758399057.753 [DAT](INFO): direction in FSK: [0.972756,-0.161039,0.166769]
2025-09-20T20:10:57.753Z,1758399057.753 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:57.753Z,1758399057.753 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:57.791Z,1758399057.791 [DAT](INFO): publishing transmit ping time
2025-09-20T20:10:57.792Z,1758399057.792 [DAT](INFO): publishing direction and range info
2025-09-20T20:10:57.915Z,1758399057.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.599998 m,
deltaT: 3.551229 s,
deltaX: -2.400002 m,
approachRate: -0.675823 m/s,
rangeRepo size: 4
2025-09-20T20:10:57.917Z,1758399057.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.269234 m,
bearing: 249.936692 deg,
lat: 36.779327 deg,
lon: -121.859568 deg,
deltaT: 3.551229 s,
deltaX: -2.390671 m,
approachRate: -0.673195 m/s,
posRepo size: 4
2025-09-20T20:10:57.918Z,1758399057.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:10:57.933Z,1758399057.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 82.155884 m,
bearing: 250.362356 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.131478 deg/s,
cmd heading: 254.774881 deg,
new cmd heading: 254.659580 deg.
2025-09-20T20:10:57.934Z,1758399057.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.444648 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:10:58.298Z,1758399058.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:10:58.302Z,1758399058.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 81.885582 m,
bearing: 250.311613 deg,
approach rate: -0.697168 m/s,
LOS rate: -0.131310 deg/s,
cmd heading: 254.659587 deg,
new cmd heading: 254.557766 deg.
2025-09-20T20:10:58.303Z,1758399058.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.442871 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:10:58.687Z,1758399058.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:10:58.689Z,1758399058.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:10:58.692Z,1758399058.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 81.623764 m,
bearing: 250.262751 deg,
approach rate: -0.669301 m/s,
LOS rate: -0.125310 deg/s,
cmd heading: 254.557763 deg,
new cmd heading: 254.459725 deg.
2025-09-20T20:10:58.693Z,1758399058.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.441160 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:10:58.748Z,1758399058.748 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:10:58.748Z,1758399058.748 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:10:58.748Z,1758399058.748 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:10:59.004Z,1758399059.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251798
2025-09-20T20:10:59.121Z,1758399059.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:10:59.124Z,1758399059.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 81.326309 m,
bearing: 250.203092 deg,
approach rate: -0.688357 m/s,
LOS rate: -0.138565 deg/s,
cmd heading: 254.459736 deg,
new cmd heading: 254.339981 deg.
2025-09-20T20:10:59.125Z,1758399059.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.439070 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:10:59.248Z,1758399059.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:10:59.252Z,1758399059.252 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500471
2025-09-20T20:10:59.504Z,1758399059.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752249
2025-09-20T20:10:59.506Z,1758399059.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:10:59.520Z,1758399059.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 81.076065 m,
bearing: 250.152968 deg,
approach rate: -0.650204 m/s,
LOS rate: -0.130639 deg/s,
cmd heading: 254.339989 deg,
new cmd heading: 254.239431 deg.
2025-09-20T20:10:59.521Z,1758399059.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.437315 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:10:59.757Z,1758399059.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005200
2025-09-20T20:10:59.887Z,1758399059.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:10:59.890Z,1758399059.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 80.798904 m,
bearing: 250.097462 deg,
approach rate: -0.727503 m/s,
LOS rate: -0.146195 deg/s,
cmd heading: 254.239421 deg,
new cmd heading: 254.128028 deg.
2025-09-20T20:10:59.891Z,1758399059.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.435371 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:11:00.008Z,1758399060.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256208
2025-09-20T20:11:00.251Z,1758399060.251 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:11:00.260Z,1758399060.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508108
2025-09-20T20:11:00.323Z,1758399060.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:11:00.326Z,1758399060.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 80.509064 m,
bearing: 250.035591 deg,
approach rate: -0.665326 m/s,
LOS rate: -0.142535 deg/s,
cmd heading: 254.128034 deg,
new cmd heading: 254.003847 deg.
2025-09-20T20:11:00.327Z,1758399060.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.433203 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:11:00.512Z,1758399060.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760176
2025-09-20T20:11:00.700Z,1758399060.700 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:00.702Z,1758399060.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:11:00.705Z,1758399060.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 80.256676 m,
bearing: 249.981773 deg,
approach rate: -0.665786 m/s,
LOS rate: -0.142413 deg/s,
cmd heading: 254.003834 deg,
new cmd heading: 253.895861 deg.
2025-09-20T20:11:00.706Z,1758399060.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.431319 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:11:00.765Z,1758399060.765 [DAT](INFO): DAT read: Rx Time:20:11:03.0203
2025-09-20T20:11:00.766Z,1758399060.766 [DAT](INFO): Rx dataTimestamp_ set to:1758399060.765397
2025-09-20T20:11:00.767Z,1758399060.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014812
2025-09-20T20:11:01.016Z,1758399061.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264165
2025-09-20T20:11:01.162Z,1758399061.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.27 m.
2025-09-20T20:11:01.166Z,1758399061.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.269234 m,
nav range: 79.954849 m,
bearing: 249.921311 deg,
approach rate: -0.657009 m/s,
LOS rate: -0.132109 deg/s,
cmd heading: 253.895863 deg,
new cmd heading: 253.774483 deg.
2025-09-20T20:11:01.184Z,1758399061.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.429200 target range: 87.269234 and range: 87.60 m.
2025-09-20T20:11:01.271Z,1758399061.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518553
2025-09-20T20:11:01.526Z,1758399061.526 [DAT](INFO): DAT read: 20:11:03.0203 LVL= 24416, 28817, 22866, 32067, AGC= 64, IDX= 407, 0.30,-2.474, 2.218,-2.042,-2.585, PHS= 0.213,-1.435, 0.500, RAW= 157.9, 8.0, CAL= 157.5, 8.3, ROT= 352.5, -8.3
2025-09-20T20:11:01.528Z,1758399061.528 [DAT](INFO): got valid direction response:
20:11:03.0203 LVL= 24416, 28817, 22866, 32067, AGC= 64, IDX= 407, 0.30,-2.474, 2.218,-2.042,-2.585, PHS= 0.213,-1.435, 0.500, RAW= 157.9, 8.0, CAL= 157.5, 8.3, ROT= 352.5, -8.3
2025-09-20T20:11:01.529Z,1758399061.529 [DAT](INFO): DAT read: Bearing 61.5, 2.2 (Local)
2025-09-20T20:11:01.529Z,1758399061.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 61.5, 2.2 (Local)
2025-09-20T20:11:01.530Z,1758399061.530 [DAT](INFO): DAT read: Range 11 to 50 : 85.1 m (Round-trip 113.5 ms) speed 0.6 m/s
2025-09-20T20:11:01.531Z,1758399061.531 [DAT](INFO): DAT read: user:151>
2025-09-20T20:11:01.532Z,1758399061.532 [DAT](INFO): DAT read: Tx time:20:11:04.1026
2025-09-20T20:11:01.532Z,1758399061.532 [DAT](INFO): Ping request sent.
2025-09-20T20:11:01.532Z,1758399061.532 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:01.533Z,1758399061.533 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:01.534Z,1758399061.534 [DAT](INFO): direction in FSK: [0.981060,-0.129159,0.144356]
2025-09-20T20:11:01.534Z,1758399061.534 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:01.534Z,1758399061.534 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:01.557Z,1758399061.557 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:01.558Z,1758399061.558 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:01.576Z,1758399061.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 85.099998 m,
deltaT: 3.779924 s,
deltaX: -2.500000 m,
approachRate: -0.661389 m/s,
rangeRepo size: 4
2025-09-20T20:11:01.578Z,1758399061.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 84.777664 m,
bearing: 250.605135 deg,
lat: 36.779330 deg,
lon: -121.859577 deg,
deltaT: 3.779924 s,
deltaX: -2.491570 m,
approachRate: -0.659159 m/s,
posRepo size: 4
2025-09-20T20:11:01.591Z,1758399061.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:01.594Z,1758399061.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 80.341377 m,
bearing: 250.264057 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.132109 deg/s,
cmd heading: 253.774476 deg,
new cmd heading: 253.666180 deg.
2025-09-20T20:11:01.595Z,1758399061.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.427310 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:01.935Z,1758399061.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:01.938Z,1758399061.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 80.070587 m,
bearing: 250.211370 deg,
approach rate: -0.744741 m/s,
LOS rate: -0.145393 deg/s,
cmd heading: 253.666177 deg,
new cmd heading: 253.560447 deg.
2025-09-20T20:11:01.939Z,1758399061.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.425465 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:02.353Z,1758399062.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:02.355Z,1758399062.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 79.779137 m,
bearing: 250.155360 deg,
approach rate: -0.697676 m/s,
LOS rate: -0.134569 deg/s,
cmd heading: 253.560446 deg,
new cmd heading: 253.448015 deg.
2025-09-20T20:11:02.356Z,1758399062.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.423502 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:02.726Z,1758399062.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:02.729Z,1758399062.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:02.732Z,1758399062.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 79.519417 m,
bearing: 250.105386 deg,
approach rate: -0.690461 m/s,
LOS rate: -0.133290 deg/s,
cmd heading: 253.448021 deg,
new cmd heading: 253.347746 deg.
2025-09-20T20:11:02.733Z,1758399062.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.421752 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:02.781Z,1758399062.781 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:02.781Z,1758399062.781 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:02.781Z,1758399062.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:03.032Z,1758399063.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499578
2025-09-20T20:11:03.192Z,1758399063.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:03.195Z,1758399063.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 79.203285 m,
bearing: 250.041283 deg,
approach rate: -0.683602 m/s,
LOS rate: -0.139168 deg/s,
cmd heading: 253.347754 deg,
new cmd heading: 253.219038 deg.
2025-09-20T20:11:03.212Z,1758399063.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.419506 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:03.285Z,1758399063.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752315
2025-09-20T20:11:03.536Z,1758399063.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003662
2025-09-20T20:11:03.562Z,1758399063.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:03.569Z,1758399063.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 78.955353 m,
bearing: 249.990797 deg,
approach rate: -0.667760 m/s,
LOS rate: -0.136402 deg/s,
cmd heading: 253.219046 deg,
new cmd heading: 253.117756 deg.
2025-09-20T20:11:03.570Z,1758399063.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.417738 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:03.788Z,1758399063.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255850
2025-09-20T20:11:04.040Z,1758399064.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507533
2025-09-20T20:11:04.085Z,1758399064.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:04.088Z,1758399064.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 78.596214 m,
bearing: 249.917077 deg,
approach rate: -0.687678 m/s,
LOS rate: -0.141803 deg/s,
cmd heading: 253.117767 deg,
new cmd heading: 252.969655 deg.
2025-09-20T20:11:04.089Z,1758399064.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.415154 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:04.292Z,1758399064.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760050
2025-09-20T20:11:04.544Z,1758399064.544 [DAT](INFO): DAT read: Rx Time:20:11:06.6167
2025-09-20T20:11:04.545Z,1758399064.545 [DAT](INFO): Rx dataTimestamp_ set to:1758399064.544326
2025-09-20T20:11:04.545Z,1758399064.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012747
2025-09-20T20:11:04.560Z,1758399064.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.78 m.
2025-09-20T20:11:04.563Z,1758399064.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 84.777664 m,
nav range: 78.268639 m,
bearing: 249.850687 deg,
approach rate: -0.689272 m/s,
LOS rate: -0.140280 deg/s,
cmd heading: 252.969662 deg,
new cmd heading: 252.836326 deg.
2025-09-20T20:11:04.568Z,1758399064.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.412827 target range: 84.777664 and range: 85.10 m.
2025-09-20T20:11:04.796Z,1758399064.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264016
2025-09-20T20:11:05.054Z,1758399065.054 [DAT](INFO): DAT read: 20:11:06.6167 LVL= 26272, 32577, 24274, 32755, AGC= 64, IDX= 404, 0.43,-2.418, 2.253,-1.982,-2.541, PHS= 0.225,-1.443, 0.515, RAW= 157.9, 7.7, CAL= 157.4, 7.9, ROT= 352.6, -7.9
2025-09-20T20:11:05.055Z,1758399065.055 [DAT](INFO): got valid direction response:
20:11:06.6167 LVL= 26272, 32577, 24274, 32755, AGC= 64, IDX= 404, 0.43,-2.418, 2.253,-1.982,-2.541, PHS= 0.225,-1.443, 0.515, RAW= 157.9, 7.7, CAL= 157.4, 7.9, ROT= 352.6, -7.9
2025-09-20T20:11:05.056Z,1758399065.056 [DAT](INFO): DAT read: Bearing 60.0, 2.3 (Local)
2025-09-20T20:11:05.056Z,1758399065.056 [DAT](INFO): Local bearing/azimuth received:
Bearing 60.0, 2.3 (Local)
2025-09-20T20:11:05.058Z,1758399065.058 [DAT](INFO): DAT read: Range 11 to 50 : 82.5 m (Round-trip 110.1 ms) speed 1.0 m/s
2025-09-20T20:11:05.058Z,1758399065.058 [DAT](INFO): DAT read: user:152>
2025-09-20T20:11:05.068Z,1758399065.068 [DAT](INFO): DAT read: Tx time:20:11:07.7025
2025-09-20T20:11:05.068Z,1758399065.068 [DAT](INFO): Ping request sent.
2025-09-20T20:11:05.068Z,1758399065.068 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:05.069Z,1758399065.069 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:05.070Z,1758399065.070 [DAT](INFO): direction in FSK: [0.982260,-0.127573,0.137445]
2025-09-20T20:11:05.070Z,1758399065.070 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:05.070Z,1758399065.070 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:05.073Z,1758399065.073 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:05.074Z,1758399065.074 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:05.149Z,1758399065.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 82.500000 m,
deltaT: 3.527931 s,
deltaX: -2.599998 m,
approachRate: -0.736975 m/s,
rangeRepo size: 4
2025-09-20T20:11:05.165Z,1758399065.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 82.185387 m,
bearing: 250.157054 deg,
lat: 36.779334 deg,
lon: -121.859578 deg,
deltaT: 3.527931 s,
deltaX: -2.592278 m,
approachRate: -0.734787 m/s,
posRepo size: 4
2025-09-20T20:11:05.166Z,1758399065.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:05.174Z,1758399065.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 77.823761 m,
bearing: 250.105261 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.140280 deg/s,
cmd heading: 252.836336 deg,
new cmd heading: 252.674943 deg.
2025-09-20T20:11:05.176Z,1758399065.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.410010 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:05.659Z,1758399065.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:05.667Z,1758399065.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:05.670Z,1758399065.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 77.414574 m,
bearing: 250.023995 deg,
approach rate: -0.775852 m/s,
LOS rate: -0.154902 deg/s,
cmd heading: 252.674953 deg,
new cmd heading: 252.511561 deg.
2025-09-20T20:11:05.679Z,1758399065.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.407158 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:05.804Z,1758399065.804 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:05.804Z,1758399065.804 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:05.804Z,1758399065.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:06.014Z,1758399066.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:06.017Z,1758399066.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 77.138336 m,
bearing: 249.969147 deg,
approach rate: -0.785696 m/s,
LOS rate: -0.156562 deg/s,
cmd heading: 252.511575 deg,
new cmd heading: 252.401486 deg.
2025-09-20T20:11:06.018Z,1758399066.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.405237 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:06.056Z,1758399066.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987794
2025-09-20T20:11:06.308Z,1758399066.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239456
2025-09-20T20:11:06.440Z,1758399066.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:06.443Z,1758399066.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 76.833076 m,
bearing: 249.908536 deg,
approach rate: -0.716819 m/s,
LOS rate: -0.142892 deg/s,
cmd heading: 252.401499 deg,
new cmd heading: 252.279797 deg.
2025-09-20T20:11:06.444Z,1758399066.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.403113 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:06.560Z,1758399066.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491582
2025-09-20T20:11:06.812Z,1758399066.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743590
2025-09-20T20:11:06.827Z,1758399066.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:06.829Z,1758399066.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 76.555542 m,
bearing: 249.853533 deg,
approach rate: -0.717835 m/s,
LOS rate: -0.142781 deg/s,
cmd heading: 252.279785 deg,
new cmd heading: 252.169380 deg.
2025-09-20T20:11:06.830Z,1758399066.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.401186 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:07.064Z,1758399067.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995486
2025-09-20T20:11:07.260Z,1758399067.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:07.263Z,1758399067.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 76.251770 m,
bearing: 249.791350 deg,
approach rate: -0.701102 m/s,
LOS rate: -0.144088 deg/s,
cmd heading: 252.169382 deg,
new cmd heading: 252.044522 deg.
2025-09-20T20:11:07.264Z,1758399067.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.399007 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:07.317Z,1758399067.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248377
2025-09-20T20:11:07.568Z,1758399067.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499561
2025-09-20T20:11:07.651Z,1758399067.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:07.678Z,1758399067.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 75.982315 m,
bearing: 249.736380 deg,
approach rate: -0.690607 m/s,
LOS rate: -0.141387 deg/s,
cmd heading: 252.044526 deg,
new cmd heading: 251.934196 deg.
2025-09-20T20:11:07.680Z,1758399067.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.397081 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:07.820Z,1758399067.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751449
2025-09-20T20:11:08.038Z,1758399068.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:08.043Z,1758399068.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:08.046Z,1758399068.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 75.702324 m,
bearing: 249.679532 deg,
approach rate: -0.712658 m/s,
LOS rate: -0.145229 deg/s,
cmd heading: 251.934205 deg,
new cmd heading: 251.820089 deg.
2025-09-20T20:11:08.047Z,1758399068.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.395090 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:08.086Z,1758399068.086 [DAT](INFO): DAT read: Rx Time:20:11:10.2133
2025-09-20T20:11:08.087Z,1758399068.087 [DAT](INFO): Rx dataTimestamp_ set to:1758399068.086298
2025-09-20T20:11:08.088Z,1758399068.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019120
2025-09-20T20:11:08.336Z,1758399068.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267566
2025-09-20T20:11:08.525Z,1758399068.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.19 m.
2025-09-20T20:11:08.528Z,1758399068.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 82.185387 m,
nav range: 75.353142 m,
bearing: 249.610131 deg,
approach rate: -0.724276 m/s,
LOS rate: -0.144621 deg/s,
cmd heading: 251.820086 deg,
new cmd heading: 251.680640 deg.
2025-09-20T20:11:08.529Z,1758399068.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.392656 target range: 82.185387 and range: 82.50 m.
2025-09-20T20:11:08.597Z,1758399068.597 [DAT](INFO): DAT read: 20:11:10.2133 LVL= 26048, 32753, 27218, 32755, AGC= 63, IDX= 401,-0.12, 2.818, 1.208,-3.024, 2.728, PHS= 0.192,-1.475, 0.487, RAW= 158.0, 8.7, CAL= 157.7, 9.2, ROT= 352.3, -9.2
2025-09-20T20:11:08.598Z,1758399068.598 [DAT](INFO): got valid direction response:
20:11:10.2133 LVL= 26048, 32753, 27218, 32755, AGC= 63, IDX= 401,-0.12, 2.818, 1.208,-3.024, 2.728, PHS= 0.192,-1.475, 0.487, RAW= 158.0, 8.7, CAL= 157.7, 9.2, ROT= 352.3, -9.2
2025-09-20T20:11:08.601Z,1758399068.601 [DAT](INFO): DAT read: Bearing 59.9, 1.0 (Local)
2025-09-20T20:11:08.601Z,1758399068.601 [DAT](INFO): Local bearing/azimuth received:
Bearing 59.9, 1.0 (Local)
2025-09-20T20:11:08.605Z,1758399068.605 [DAT](INFO): DAT read: Range 11 to 50 : 80.0 m (Round-trip 106.7 ms) speed 0.4 m/s
2025-09-20T20:11:08.606Z,1758399068.606 [DAT](INFO): DAT read: user:153>
2025-09-20T20:11:08.607Z,1758399068.607 [DAT](INFO): DAT read: Tx time:20:11:11.3025
2025-09-20T20:11:08.628Z,1758399068.628 [DAT](INFO): Ping request sent.
2025-09-20T20:11:08.628Z,1758399068.628 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:08.629Z,1758399068.629 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:08.632Z,1758399068.632 [DAT](INFO): direction in FSK: [0.978235,-0.132263,0.159881]
2025-09-20T20:11:08.633Z,1758399068.633 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:08.633Z,1758399068.633 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:08.656Z,1758399068.656 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:08.657Z,1758399068.657 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:08.886Z,1758399068.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 80.000000 m,
deltaT: 3.540764 s,
deltaX: -2.500000 m,
approachRate: -0.706062 m/s,
rangeRepo size: 4
2025-09-20T20:11:08.901Z,1758399068.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 79.693871 m,
bearing: 248.919506 deg,
lat: 36.779334 deg,
lon: -121.859579 deg,
deltaT: 3.540764 s,
deltaX: -2.491516 m,
approachRate: -0.703666 m/s,
posRepo size: 4
2025-09-20T20:11:08.901Z,1758399068.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:08.904Z,1758399068.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 75.216743 m,
bearing: 249.592845 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.144621 deg/s,
cmd heading: 251.680641 deg,
new cmd heading: 251.576339 deg.
2025-09-20T20:11:08.905Z,1758399068.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.390835 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:09.272Z,1758399069.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:09.275Z,1758399069.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 74.938820 m,
bearing: 249.539131 deg,
approach rate: -0.718871 m/s,
LOS rate: -0.139449 deg/s,
cmd heading: 251.576330 deg,
new cmd heading: 251.468505 deg.
2025-09-20T20:11:09.276Z,1758399069.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.388953 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:09.676Z,1758399069.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:09.679Z,1758399069.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 74.650459 m,
bearing: 249.483836 deg,
approach rate: -0.713891 m/s,
LOS rate: -0.137424 deg/s,
cmd heading: 251.468495 deg,
new cmd heading: 251.357477 deg.
2025-09-20T20:11:09.680Z,1758399069.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.387015 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:10.065Z,1758399070.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:10.067Z,1758399070.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:10.069Z,1758399070.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 74.374039 m,
bearing: 249.431133 deg,
approach rate: -0.707972 m/s,
LOS rate: -0.135485 deg/s,
cmd heading: 251.357464 deg,
new cmd heading: 251.251667 deg.
2025-09-20T20:11:10.070Z,1758399070.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.385169 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:10.100Z,1758399070.100 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:10.100Z,1758399070.100 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:10.100Z,1758399070.100 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:10.352Z,1758399070.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724237
2025-09-20T20:11:10.517Z,1758399070.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:10.520Z,1758399070.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 74.053947 m,
bearing: 249.371252 deg,
approach rate: -0.710286 m/s,
LOS rate: -0.133450 deg/s,
cmd heading: 251.251678 deg,
new cmd heading: 251.131399 deg.
2025-09-20T20:11:10.521Z,1758399070.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.383070 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:10.605Z,1758399070.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976641
2025-09-20T20:11:10.856Z,1758399070.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227922
2025-09-20T20:11:10.883Z,1758399070.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:10.885Z,1758399070.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 73.796410 m,
bearing: 249.322686 deg,
approach rate: -0.705224 m/s,
LOS rate: -0.133454 deg/s,
cmd heading: 251.131412 deg,
new cmd heading: 251.033941 deg.
2025-09-20T20:11:10.886Z,1758399070.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.381369 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:11.108Z,1758399071.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.479991
2025-09-20T20:11:11.304Z,1758399071.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:11.307Z,1758399071.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 73.503578 m,
bearing: 249.270735 deg,
approach rate: -0.694720 m/s,
LOS rate: -0.123742 deg/s,
cmd heading: 251.033931 deg,
new cmd heading: 250.929614 deg.
2025-09-20T20:11:11.308Z,1758399071.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.379548 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:11.361Z,1758399071.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733002
2025-09-20T20:11:11.612Z,1758399071.612 [DAT](INFO): DAT read: Rx Time:20:11:13.8100
2025-09-20T20:11:11.612Z,1758399071.612 [DAT](INFO): Rx dataTimestamp_ set to:1758399071.612052
2025-09-20T20:11:11.613Z,1758399071.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.984912
2025-09-20T20:11:11.686Z,1758399071.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:11.689Z,1758399071.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 73.236641 m,
bearing: 249.223632 deg,
approach rate: -0.699362 m/s,
LOS rate: -0.123855 deg/s,
cmd heading: 250.929621 deg,
new cmd heading: 250.835073 deg.
2025-09-20T20:11:11.690Z,1758399071.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.377898 target range: 79.693871 and range: 80.00 m.
2025-09-20T20:11:11.864Z,1758399071.864 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236033
2025-09-20T20:11:12.123Z,1758399072.123 [DAT](INFO): DAT read: 20:11:13.8100 LVL= 29312, 30417, 28370, 32755, AGC= 67, IDX= 415, 0.31, 2.286, 0.672, 2.724, 2.207, PHS= 0.180,-1.490, 0.472, RAW= 157.9, 9.2, CAL= 157.7, 9.7, ROT= 352.3, -9.7
2025-09-20T20:11:12.126Z,1758399072.126 [DAT](INFO): got valid direction response:
20:11:13.8100 LVL= 29312, 30417, 28370, 32755, AGC= 67, IDX= 415, 0.31, 2.286, 0.672, 2.724, 2.207, PHS= 0.180,-1.490, 0.472, RAW= 157.9, 9.2, CAL= 157.7, 9.7, ROT= 352.3, -9.7
2025-09-20T20:11:12.128Z,1758399072.128 [DAT](INFO): DAT read: Bearing 58.7, -1.0 (Local)
2025-09-20T20:11:12.128Z,1758399072.128 [DAT](INFO): Local bearing/azimuth received:
Bearing 58.7, -1.0 (Local)
2025-09-20T20:11:12.135Z,1758399072.135 [DAT](INFO): DAT read: Range 11 to 50 : 77.5 m (Round-trip 103.4 ms) speed 0.5 m/s
2025-09-20T20:11:12.137Z,1758399072.137 [DAT](INFO): DAT read: user:154>
2025-09-20T20:11:12.138Z,1758399072.138 [DAT](INFO): DAT read: Tx time:20:11:14.9025
2025-09-20T20:11:12.138Z,1758399072.138 [DAT](INFO): Ping request sent.
2025-09-20T20:11:12.138Z,1758399072.138 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:12.152Z,1758399072.152 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:12.154Z,1758399072.154 [DAT](INFO): direction in FSK: [0.976816,-0.132071,0.168489]
2025-09-20T20:11:12.162Z,1758399072.162 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:12.155Z,1758399072.155 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:12.163Z,1758399072.163 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:12.166Z,1758399072.166 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:12.166Z,1758399072.166 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:12.177Z,1758399072.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.500000 m,
deltaT: 3.527289 s,
deltaX: -2.500000 m,
approachRate: -0.708760 m/s,
rangeRepo size: 4
2025-09-20T20:11:12.178Z,1758399072.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:12.182Z,1758399072.182 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:12.182Z,1758399072.182 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:12.182Z,1758399072.182 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:12.193Z,1758399072.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 72.918663 m,
bearing: 249.167748 deg,
approach rate: -0.647795 m/s,
LOS rate: -0.114346 deg/s,
cmd heading: 250.835064 deg,
new cmd heading: 250.722807 deg.
2025-09-20T20:11:12.194Z,1758399072.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.375938 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:12.368Z,1758399072.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.229883
2025-09-20T20:11:12.621Z,1758399072.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.482340
2025-09-20T20:11:12.665Z,1758399072.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:12.668Z,1758399072.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 72.570587 m,
bearing: 249.102400 deg,
approach rate: -0.712351 m/s,
LOS rate: -0.134377 deg/s,
cmd heading: 250.722803 deg,
new cmd heading: 250.591481 deg.
2025-09-20T20:11:12.669Z,1758399072.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.373646 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:12.872Z,1758399072.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.733834
2025-09-20T20:11:12.000Z,1758399073.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:13.002Z,1758399073.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 72.318794 m,
bearing: 249.054726 deg,
approach rate: -0.754868 m/s,
LOS rate: -0.143424 deg/s,
cmd heading: 250.591472 deg,
new cmd heading: 250.495791 deg.
2025-09-20T20:11:13.003Z,1758399073.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.371976 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:13.126Z,1758399073.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987723
2025-09-20T20:11:13.376Z,1758399073.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.237904
2025-09-20T20:11:13.408Z,1758399073.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:13.410Z,1758399073.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 72.026627 m,
bearing: 249.002665 deg,
approach rate: -0.714247 m/s,
LOS rate: -0.127788 deg/s,
cmd heading: 250.495794 deg,
new cmd heading: 250.391249 deg.
2025-09-20T20:11:13.412Z,1758399073.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.370152 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:13.629Z,1758399073.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.490399
2025-09-20T20:11:13.824Z,1758399073.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:13.826Z,1758399073.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 71.732841 m,
bearing: 248.950552 deg,
approach rate: -0.706506 m/s,
LOS rate: -0.125836 deg/s,
cmd heading: 250.391238 deg,
new cmd heading: 250.286585 deg.
2025-09-20T20:11:13.827Z,1758399073.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.368325 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:13.880Z,1758399073.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742054
2025-09-20T20:11:14.134Z,1758399074.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995466
2025-09-20T20:11:14.204Z,1758399074.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:14.206Z,1758399074.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:14.208Z,1758399074.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 71.456093 m,
bearing: 248.901724 deg,
approach rate: -0.724407 m/s,
LOS rate: -0.128305 deg/s,
cmd heading: 250.286572 deg,
new cmd heading: 250.188538 deg.
2025-09-20T20:11:14.209Z,1758399074.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366614 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:14.384Z,1758399074.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.245972
2025-09-20T20:11:14.636Z,1758399074.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498177
2025-09-20T20:11:14.661Z,1758399074.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:14.668Z,1758399074.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 71.147301 m,
bearing: 248.842788 deg,
approach rate: -0.678391 m/s,
LOS rate: -0.130040 deg/s,
cmd heading: 250.188545 deg,
new cmd heading: 250.070162 deg.
2025-09-20T20:11:14.669Z,1758399074.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.364548 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:14.889Z,1758399074.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750712
2025-09-20T20:11:15.141Z,1758399075.141 [DAT](INFO): DAT read: Rx Time:20:11:17.4067
2025-09-20T20:11:15.142Z,1758399075.142 [DAT](INFO): Rx dataTimestamp_ set to:1758399075.141656
2025-09-20T20:11:15.143Z,1758399075.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.004698
2025-09-20T20:11:15.189Z,1758399075.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:15.194Z,1758399075.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 70.760605 m,
bearing: 248.770350 deg,
approach rate: -0.731759 m/s,
LOS rate: -0.137826 deg/s,
cmd heading: 250.070164 deg,
new cmd heading: 249.924497 deg.
2025-09-20T20:11:15.194Z,1758399075.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.362005 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:15.393Z,1758399075.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254213
2025-09-20T20:11:15.648Z,1758399075.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508952
2025-09-20T20:11:15.737Z,1758399075.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.69 m.
2025-09-20T20:11:15.741Z,1758399075.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 79.693871 m,
nav range: 70.362640 m,
bearing: 248.695560 deg,
approach rate: -0.726039 m/s,
LOS rate: -0.137218 deg/s,
cmd heading: 249.924490 deg,
new cmd heading: 249.774064 deg.
2025-09-20T20:11:15.742Z,1758399075.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.359380 target range: 79.693871 and range: 77.50 m.
2025-09-20T20:11:15.905Z,1758399075.905 [DAT](INFO): DAT read: 20:11:17.4067 LVL= 23088, 30257, 23778, 32755, AGC= 66, IDX= 413,-0.06,-2.215, 2.507,-1.791,-2.277, PHS= 0.165,-1.453, 0.442, RAW= 157.8, 9.6, CAL= 157.6, 10.3, ROT= 352.4, -10.3
2025-09-20T20:11:15.906Z,1758399075.906 [DAT](INFO): got valid direction response:
20:11:17.4067 LVL= 23088, 30257, 23778, 32755, AGC= 66, IDX= 413,-0.06,-2.215, 2.507,-1.791,-2.277, PHS= 0.165,-1.453, 0.442, RAW= 157.8, 9.6, CAL= 157.6, 10.3, ROT= 352.4, -10.3
2025-09-20T20:11:15.908Z,1758399075.908 [DAT](INFO): DAT read: Bearing 57.7, -2.9 (Local)
2025-09-20T20:11:15.908Z,1758399075.908 [DAT](INFO): Local bearing/azimuth received:
Bearing 57.7, -2.9 (Local)
2025-09-20T20:11:15.910Z,1758399075.910 [DAT](INFO): DAT read: Range 11 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.7 m/s
2025-09-20T20:11:15.913Z,1758399075.913 [DAT](INFO): DAT read: user:155>
2025-09-20T20:11:15.914Z,1758399075.914 [DAT](INFO): DAT read: Tx time:20:11:18.5025
2025-09-20T20:11:15.914Z,1758399075.914 [DAT](INFO): Ping request sent.
2025-09-20T20:11:15.914Z,1758399075.914 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:15.915Z,1758399075.915 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:15.917Z,1758399075.917 [DAT](INFO): direction in FSK: [0.975242,-0.130125,0.178802]
2025-09-20T20:11:15.917Z,1758399075.917 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:15.917Z,1758399075.917 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:15.921Z,1758399075.921 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:15.922Z,1758399075.922 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:16.206Z,1758399076.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.000000 m,
deltaT: 3.780405 s,
deltaX: -2.500000 m,
approachRate: -0.661305 m/s,
rangeRepo size: 4
2025-09-20T20:11:16.212Z,1758399076.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.714149 m,
bearing: 245.796087 deg,
lat: 36.779325 deg,
lon: -121.859581 deg,
deltaT: 7.307694 s,
deltaX: -4.979721 m,
approachRate: -0.681435 m/s,
posRepo size: 4
2025-09-20T20:11:16.213Z,1758399076.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:16.223Z,1758399076.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 70.529579 m,
bearing: 247.963296 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.137218 deg/s,
cmd heading: 249.774062 deg,
new cmd heading: 249.645636 deg.
2025-09-20T20:11:16.228Z,1758399076.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.357138 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:16.645Z,1758399076.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:16.652Z,1758399076.652 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:16.652Z,1758399076.652 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:16.652Z,1758399076.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:16.661Z,1758399076.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:16.668Z,1758399076.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 70.223137 m,
bearing: 247.900638 deg,
approach rate: -0.673066 m/s,
LOS rate: -0.138223 deg/s,
cmd heading: 249.645627 deg,
new cmd heading: 249.519763 deg.
2025-09-20T20:11:16.669Z,1758399076.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.354941 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:16.904Z,1758399076.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.989614
2025-09-20T20:11:17.011Z,1758399077.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:17.013Z,1758399077.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 69.935455 m,
bearing: 247.841298 deg,
approach rate: -0.822220 m/s,
LOS rate: -0.170295 deg/s,
cmd heading: 249.519760 deg,
new cmd heading: 249.400593 deg.
2025-09-20T20:11:17.014Z,1758399077.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.352861 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:17.156Z,1758399077.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.241527
2025-09-20T20:11:17.408Z,1758399077.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493792
2025-09-20T20:11:17.451Z,1758399077.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:17.454Z,1758399077.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 69.618210 m,
bearing: 247.776540 deg,
approach rate: -0.720844 m/s,
LOS rate: -0.147813 deg/s,
cmd heading: 249.400587 deg,
new cmd heading: 249.270482 deg.
2025-09-20T20:11:17.454Z,1758399077.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.350591 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:17.660Z,1758399077.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745532
2025-09-20T20:11:17.814Z,1758399077.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:17.833Z,1758399077.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 69.355515 m,
bearing: 247.724354 deg,
approach rate: -0.723125 m/s,
LOS rate: -0.144199 deg/s,
cmd heading: 249.270486 deg,
new cmd heading: 249.165717 deg.
2025-09-20T20:11:17.834Z,1758399077.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.348762 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:17.913Z,1758399077.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998487
2025-09-20T20:11:18.164Z,1758399078.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249571
2025-09-20T20:11:18.252Z,1758399078.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:18.255Z,1758399078.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 69.047852 m,
bearing: 247.662713 deg,
approach rate: -0.702201 m/s,
LOS rate: -0.141314 deg/s,
cmd heading: 249.165711 deg,
new cmd heading: 249.041880 deg.
2025-09-20T20:11:18.256Z,1758399078.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.346601 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:18.416Z,1758399078.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501639
2025-09-20T20:11:18.658Z,1758399078.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:18.668Z,1758399078.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753481
2025-09-20T20:11:18.672Z,1758399078.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:18.677Z,1758399078.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 68.751129 m,
bearing: 247.605300 deg,
approach rate: -0.706152 m/s,
LOS rate: -0.137224 deg/s,
cmd heading: 249.041893 deg,
new cmd heading: 248.926571 deg.
2025-09-20T20:11:18.678Z,1758399078.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.344588 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:18.924Z,1758399078.924 [DAT](INFO): DAT read: Rx Time:20:11:21.0032
2025-09-20T20:11:18.925Z,1758399078.925 [DAT](INFO): Rx dataTimestamp_ set to:1758399078.924081
2025-09-20T20:11:18.925Z,1758399078.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010907
2025-09-20T20:11:19.028Z,1758399079.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.71 m.
2025-09-20T20:11:19.031Z,1758399079.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.714149 m,
nav range: 68.494354 m,
bearing: 247.555618 deg,
approach rate: -0.720960 m/s,
LOS rate: -0.140016 deg/s,
cmd heading: 248.926572 deg,
new cmd heading: 248.826837 deg.
2025-09-20T20:11:19.032Z,1758399079.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.342847 target range: 74.714149 and range: 75.00 m.
2025-09-20T20:11:19.172Z,1758399079.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257551
2025-09-20T20:11:19.433Z,1758399079.433 [DAT](INFO): DAT read: 20:11:21.0032 LVL= 28256, 32641, 30450, 32755, AGC= 66, IDX= 409, 0.19, 2.294, 0.682, 2.732, 2.242, PHS= 0.154,-1.515, 0.446, RAW= 157.9, 10.0, CAL= 157.8, 10.8, ROT= 352.2, -10.8
2025-09-20T20:11:19.434Z,1758399079.434 [DAT](INFO): got valid direction response:
20:11:21.0032 LVL= 28256, 32641, 30450, 32755, AGC= 66, IDX= 409, 0.19, 2.294, 0.682, 2.732, 2.242, PHS= 0.154,-1.515, 0.446, RAW= 157.9, 10.0, CAL= 157.8, 10.8, ROT= 352.2, -10.8
2025-09-20T20:11:19.435Z,1758399079.435 [DAT](INFO): DAT read: Bearing 56.9, -4.4 (Local)
2025-09-20T20:11:19.435Z,1758399079.435 [DAT](INFO): Local bearing/azimuth received:
Bearing 56.9, -4.4 (Local)
2025-09-20T20:11:19.437Z,1758399079.437 [DAT](INFO): DAT read: Range 11 to 50 : 72.3 m (Round-trip 96.5 ms) speed 0.6 m/s
2025-09-20T20:11:19.438Z,1758399079.438 [DAT](INFO): DAT read: user:156>
2025-09-20T20:11:19.438Z,1758399079.438 [DAT](INFO): DAT read: Tx time:20:11:22.1025
2025-09-20T20:11:19.438Z,1758399079.438 [DAT](INFO): Ping request sent.
2025-09-20T20:11:19.439Z,1758399079.439 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:19.441Z,1758399079.441 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:19.444Z,1758399079.444 [DAT](INFO): direction in FSK: [0.973199,-0.133311,0.187381]
2025-09-20T20:11:19.445Z,1758399079.445 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:19.445Z,1758399079.445 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:19.451Z,1758399079.451 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:19.471Z,1758399079.471 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:19.690Z,1758399079.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.300003 m,
deltaT: 3.530657 s,
deltaX: -2.699997 m,
approachRate: -0.764729 m/s,
rangeRepo size: 4
2025-09-20T20:11:19.696Z,1758399079.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.021042 m,
bearing: 244.408060 deg,
lat: 36.779310 deg,
lon: -121.859580 deg,
deltaT: 3.530657 s,
deltaX: -2.693108 m,
approachRate: -0.762778 m/s,
posRepo size: 4
2025-09-20T20:11:19.697Z,1758399079.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:19.704Z,1758399079.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 68.625046 m,
bearing: 246.167599 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.140016 deg/s,
cmd heading: 248.826824 deg,
new cmd heading: 248.641699 deg.
2025-09-20T20:11:19.705Z,1758399079.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339616 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:20.174Z,1758399080.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:20.177Z,1758399080.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 68.269310 m,
bearing: 246.096594 deg,
approach rate: -0.734744 m/s,
LOS rate: -0.147421 deg/s,
cmd heading: 248.641699 deg,
new cmd heading: 248.498947 deg.
2025-09-20T20:11:20.177Z,1758399080.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337125 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:20.702Z,1758399080.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:20.704Z,1758399080.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:20.706Z,1758399080.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 67.897636 m,
bearing: 246.022960 deg,
approach rate: -0.701102 m/s,
LOS rate: -0.139657 deg/s,
cmd heading: 248.498948 deg,
new cmd heading: 248.350875 deg.
2025-09-20T20:11:20.708Z,1758399080.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.334540 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:20.936Z,1758399080.936 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:20.936Z,1758399080.936 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:20.936Z,1758399080.936 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:21.080Z,1758399081.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:21.087Z,1758399081.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 67.643143 m,
bearing: 245.972849 deg,
approach rate: -0.675962 m/s,
LOS rate: -0.133602 deg/s,
cmd heading: 248.350869 deg,
new cmd heading: 248.250270 deg.
2025-09-20T20:11:21.088Z,1758399081.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.332785 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:21.189Z,1758399081.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750796
2025-09-20T20:11:21.440Z,1758399081.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001381
2025-09-20T20:11:21.504Z,1758399081.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:21.511Z,1758399081.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 67.342667 m,
bearing: 245.912148 deg,
approach rate: -0.708765 m/s,
LOS rate: -0.143820 deg/s,
cmd heading: 248.250274 deg,
new cmd heading: 248.128331 deg.
2025-09-20T20:11:21.512Z,1758399081.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.330657 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:21.692Z,1758399081.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253355
2025-09-20T20:11:21.877Z,1758399081.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:21.879Z,1758399081.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 67.067146 m,
bearing: 245.856748 deg,
approach rate: -0.740089 m/s,
LOS rate: -0.149426 deg/s,
cmd heading: 248.128342 deg,
new cmd heading: 248.017085 deg.
2025-09-20T20:11:21.880Z,1758399081.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.328715 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:21.944Z,1758399081.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505659
2025-09-20T20:11:22.196Z,1758399082.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757487
2025-09-20T20:11:22.317Z,1758399082.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:22.320Z,1758399082.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 66.754631 m,
bearing: 245.794239 deg,
approach rate: -0.708955 m/s,
LOS rate: -0.142468 deg/s,
cmd heading: 248.017091 deg,
new cmd heading: 247.891489 deg.
2025-09-20T20:11:22.321Z,1758399082.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.326523 target range: 72.021042 and range: 72.30 m.
2025-09-20T20:11:22.449Z,1758399082.449 [DAT](INFO): DAT read: Rx Time:20:11:24.5999
2025-09-20T20:11:22.450Z,1758399082.450 [DAT](INFO): Rx dataTimestamp_ set to:1758399082.449480
2025-09-20T20:11:22.450Z,1758399082.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011687
2025-09-20T20:11:22.700Z,1758399082.700 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261349
2025-09-20T20:11:22.957Z,1758399082.957 [DAT](INFO): DAT read: 20:11:24.5999 LVL= 22784, 25441, 20194, 32403, AGC= 65, IDX= 407, 0.30, 1.587,-0.030, 2.020, 1.514, PHS= 0.175,-1.499, 0.462, RAW= 157.8, 9.4, CAL= 157.6, 10.1, ROT= 35.1
2025-09-20T20:11:22.958Z,1758399082.958 [DAT](INFO): unknown deviceResponse_: 20:11:24.5999 LVL= 22784, 25441, 20194, 32403, AGC= 65, IDX= 407, 0.30, 1.587,-0.030, 2.020, 1.514, PHS= 0.175,-1.499, 0.462, RAW= 157.8, 9.4, CAL= 157.6, 10.1, ROT= 35.1
2025-09-20T20:11:22.960Z,1758399082.960 [DAT](INFO): DAT read: Bearing 54.4, -4.8 (Local)
2025-09-20T20:11:22.960Z,1758399082.960 [DAT](INFO): Local bearing/azimuth received:
Bearing 54.4, -4.8 (Local)
2025-09-20T20:11:22.961Z,1758399082.961 [DAT](INFO): DAT read: Range 11 to 50 : 69.9 m (Round-trip 93.2 ms) speed 0.6 m/s
2025-09-20T20:11:22.962Z,1758399082.962 [DAT](INFO): DAT read: user:157>
2025-09-20T20:11:22.963Z,1758399082.963 [DAT](INFO): DAT read: Tx time:20:11:25.7025
2025-09-20T20:11:22.963Z,1758399082.963 [DAT](INFO): Ping request sent.
2025-09-20T20:11:22.963Z,1758399082.963 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:22.964Z,1758399082.964 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:11:22.964Z,1758399082.964 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:22.964Z,1758399082.964 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:22.000Z,1758399083.000 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:23.003Z,1758399083.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 69.900002 m,
deltaT: 3.524882 s,
deltaX: -2.400002 m,
approachRate: -0.680874 m/s,
rangeRepo size: 4
2025-09-20T20:11:23.008Z,1758399083.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:23.010Z,1758399083.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 66.298790 m,
bearing: 245.710476 deg,
approach rate: -0.665920 m/s,
LOS rate: -0.123207 deg/s,
cmd heading: 247.891498 deg,
new cmd heading: 247.722822 deg.
2025-09-20T20:11:23.019Z,1758399083.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.323579 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:23.205Z,1758399083.205 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:23.205Z,1758399083.205 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:23.205Z,1758399083.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:23.456Z,1758399083.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492658
2025-09-20T20:11:23.521Z,1758399083.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:23.529Z,1758399083.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 65.915123 m,
bearing: 245.635515 deg,
approach rate: -0.738642 m/s,
LOS rate: -0.145156 deg/s,
cmd heading: 247.722820 deg,
new cmd heading: 247.572026 deg.
2025-09-20T20:11:23.530Z,1758399083.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.320947 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:23.708Z,1758399083.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744573
2025-09-20T20:11:23.869Z,1758399083.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:23.872Z,1758399083.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 65.654305 m,
bearing: 245.586295 deg,
approach rate: -0.749547 m/s,
LOS rate: -0.142014 deg/s,
cmd heading: 247.572036 deg,
new cmd heading: 247.473204 deg.
2025-09-20T20:11:23.873Z,1758399083.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.319222 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:23.962Z,1758399083.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998291
2025-09-20T20:11:24.212Z,1758399084.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248630
2025-09-20T20:11:24.280Z,1758399084.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:24.283Z,1758399084.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 65.362946 m,
bearing: 245.531695 deg,
approach rate: -0.708937 m/s,
LOS rate: -0.133444 deg/s,
cmd heading: 247.473217 deg,
new cmd heading: 247.363531 deg.
2025-09-20T20:11:24.284Z,1758399084.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.317308 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:24.464Z,1758399084.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500641
2025-09-20T20:11:24.716Z,1758399084.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752979
2025-09-20T20:11:24.724Z,1758399084.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:24.727Z,1758399084.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 65.048149 m,
bearing: 245.475456 deg,
approach rate: -0.708993 m/s,
LOS rate: -0.127275 deg/s,
cmd heading: 247.363524 deg,
new cmd heading: 247.250503 deg.
2025-09-20T20:11:24.728Z,1758399084.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.315335 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:24.968Z,1758399084.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004917
2025-09-20T20:11:25.092Z,1758399085.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:25.094Z,1758399085.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:25.101Z,1758399085.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 64.791061 m,
bearing: 245.430363 deg,
approach rate: -0.695456 m/s,
LOS rate: -0.122467 deg/s,
cmd heading: 247.250498 deg,
new cmd heading: 247.159954 deg.
2025-09-20T20:11:25.104Z,1758399085.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313755 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:25.220Z,1758399085.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256710
2025-09-20T20:11:25.472Z,1758399085.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508601
2025-09-20T20:11:25.581Z,1758399085.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:25.590Z,1758399085.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 64.437813 m,
bearing: 245.366480 deg,
approach rate: -0.725444 m/s,
LOS rate: -0.131912 deg/s,
cmd heading: 247.159957 deg,
new cmd heading: 247.031491 deg.
2025-09-20T20:11:25.590Z,1758399085.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.311513 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:25.725Z,1758399085.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761751
2025-09-20T20:11:25.942Z,1758399085.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:25.945Z,1758399085.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 64.171715 m,
bearing: 245.318536 deg,
approach rate: -0.737304 m/s,
LOS rate: -0.133393 deg/s,
cmd heading: 247.031495 deg,
new cmd heading: 246.935210 deg.
2025-09-20T20:11:25.946Z,1758399085.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.309833 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:25.976Z,1758399085.976 [DAT](INFO): DAT read: Rx Time:20:11:28.1965
2025-09-20T20:11:25.977Z,1758399085.977 [DAT](INFO): Rx dataTimestamp_ set to:1758399085.976254
2025-09-20T20:11:25.977Z,1758399085.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013734
2025-09-20T20:11:26.230Z,1758399086.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265754
2025-09-20T20:11:26.378Z,1758399086.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.02 m.
2025-09-20T20:11:26.381Z,1758399086.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.021042 m,
nav range: 63.856705 m,
bearing: 245.262014 deg,
approach rate: -0.721537 m/s,
LOS rate: -0.130103 deg/s,
cmd heading: 246.935217 deg,
new cmd heading: 246.821616 deg.
2025-09-20T20:11:26.382Z,1758399086.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.307850 target range: 72.021042 and range: 69.90 m.
2025-09-20T20:11:26.493Z,1758399086.493 [DAT](INFO): DAT read: 20:11:28.1965 LVL= 23936, 27841, 22834, 30259, AGC= 65, IDX= 405, 0.19,-2.784, 1.875,-2.404,-2.871, PHS= 0.189,-1.493, 0.422, RAW= 156.4, 9.8, CAL= 156.3, 10.6, ROT= 353.7, -10.6
2025-09-20T20:11:26.494Z,1758399086.494 [DAT](INFO): got valid direction response:
20:11:28.1965 LVL= 23936, 27841, 22834, 30259, AGC= 65, IDX= 405, 0.19,-2.784, 1.875,-2.404,-2.871, PHS= 0.189,-1.493, 0.422, RAW= 156.4, 9.8, CAL= 156.3, 10.6, ROT= 353.7, -10.6
2025-09-20T20:11:26.496Z,1758399086.496 [DAT](INFO): DAT read: Bearing 53.2, -3.8 (Local)
2025-09-20T20:11:26.496Z,1758399086.496 [DAT](INFO): Local bearing/azimuth received:
Bearing 53.2, -3.8 (Local)
2025-09-20T20:11:26.498Z,1758399086.498 [DAT](INFO): DAT read: Range 11 to 50 : 67.4 m (Round-trip 89.9 ms) speed 0.6 m/s
2025-09-20T20:11:26.498Z,1758399086.499 [DAT](INFO): DAT read: user:158>
2025-09-20T20:11:26.507Z,1758399086.507 [DAT](INFO): DAT read: Tx time:20:11:29.3025
2025-09-20T20:11:26.508Z,1758399086.508 [DAT](INFO): Ping request sent.
2025-09-20T20:11:26.508Z,1758399086.508 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:26.508Z,1758399086.508 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:26.509Z,1758399086.509 [DAT](INFO): direction in FSK: [0.976999,-0.107862,0.183951]
2025-09-20T20:11:26.509Z,1758399086.509 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:26.510Z,1758399086.510 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:26.518Z,1758399086.518 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:26.523Z,1758399086.523 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:26.842Z,1758399086.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 67.400002 m,
deltaT: 3.532428 s,
deltaX: -2.500000 m,
approachRate: -0.707729 m/s,
rangeRepo size: 4
2025-09-20T20:11:26.848Z,1758399086.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 67.128563 m,
bearing: 242.966322 deg,
lat: 36.779298 deg,
lon: -121.859583 deg,
deltaT: 7.057310 s,
deltaX: -4.892479 m,
approachRate: -0.693250 m/s,
posRepo size: 4
2025-09-20T20:11:26.849Z,1758399086.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:26.856Z,1758399086.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 64.395111 m,
bearing: 244.181431 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.130103 deg/s,
cmd heading: 246.821617 deg,
new cmd heading: 246.701161 deg.
2025-09-20T20:11:26.857Z,1758399086.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.305748 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:27.194Z,1758399087.194 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:27.197Z,1758399087.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:27.202Z,1758399087.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 64.124199 m,
bearing: 244.125843 deg,
approach rate: -0.762598 m/s,
LOS rate: -0.157136 deg/s,
cmd heading: 246.701160 deg,
new cmd heading: 246.589515 deg.
2025-09-20T20:11:27.205Z,1758399087.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.303799 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:27.241Z,1758399087.241 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:27.241Z,1758399087.241 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:27.241Z,1758399087.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:27.492Z,1758399087.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984112
2025-09-20T20:11:27.647Z,1758399087.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:27.650Z,1758399087.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 63.805080 m,
bearing: 244.057806 deg,
approach rate: -0.708365 m/s,
LOS rate: -0.151780 deg/s,
cmd heading: 246.589527 deg,
new cmd heading: 246.452773 deg.
2025-09-20T20:11:27.651Z,1758399087.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.301413 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:27.744Z,1758399087.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236176
2025-09-20T20:11:27.996Z,1758399087.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488141
2025-09-20T20:11:28.009Z,1758399088.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:28.018Z,1758399088.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 63.547905 m,
bearing: 244.003370 deg,
approach rate: -0.710406 m/s,
LOS rate: -0.150981 deg/s,
cmd heading: 246.452787 deg,
new cmd heading: 246.343473 deg.
2025-09-20T20:11:28.019Z,1758399088.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.299505 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:28.248Z,1758399088.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740190
2025-09-20T20:11:28.404Z,1758399088.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:28.407Z,1758399088.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 63.267818 m,
bearing: 243.944058 deg,
approach rate: -0.709256 m/s,
LOS rate: -0.150859 deg/s,
cmd heading: 246.343477 deg,
new cmd heading: 246.224327 deg.
2025-09-20T20:11:28.408Z,1758399088.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.297425 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:28.504Z,1758399088.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994816
2025-09-20T20:11:28.752Z,1758399088.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244103
2025-09-20T20:11:28.866Z,1758399088.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:28.869Z,1758399088.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 62.941383 m,
bearing: 243.874190 deg,
approach rate: -0.705847 m/s,
LOS rate: -0.151858 deg/s,
cmd heading: 246.224331 deg,
new cmd heading: 246.083870 deg.
2025-09-20T20:11:28.870Z,1758399088.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.294974 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:29.004Z,1758399089.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496123
2025-09-20T20:11:29.213Z,1758399089.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:29.236Z,1758399089.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:29.238Z,1758399089.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 62.695004 m,
bearing: 243.821399 deg,
approach rate: -0.667089 m/s,
LOS rate: -0.143496 deg/s,
cmd heading: 246.083875 deg,
new cmd heading: 245.977879 deg.
2025-09-20T20:11:29.244Z,1758399089.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.293124 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:29.256Z,1758399089.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748399
2025-09-20T20:11:29.514Z,1758399089.514 [DAT](INFO): DAT read: Rx Time:20:11:31.7932
2025-09-20T20:11:29.515Z,1758399089.515 [DAT](INFO): Rx dataTimestamp_ set to:1758399089.514183
2025-09-20T20:11:29.517Z,1758399089.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009164
2025-09-20T20:11:29.667Z,1758399089.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:29.669Z,1758399089.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 62.383160 m,
bearing: 243.757409 deg,
approach rate: -0.723848 m/s,
LOS rate: -0.149275 deg/s,
cmd heading: 245.977870 deg,
new cmd heading: 245.849251 deg.
2025-09-20T20:11:29.670Z,1758399089.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.290879 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:29.761Z,1758399089.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252736
2025-09-20T20:11:30.012Z,1758399090.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504155
2025-09-20T20:11:30.085Z,1758399090.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.13 m.
2025-09-20T20:11:30.094Z,1758399090.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 67.128563 m,
nav range: 62.138111 m,
bearing: 243.707031 deg,
approach rate: -0.586257 m/s,
LOS rate: -0.121000 deg/s,
cmd heading: 245.849244 deg,
new cmd heading: 245.748091 deg.
2025-09-20T20:11:30.101Z,1758399090.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289114 target range: 67.128563 and range: 67.40 m.
2025-09-20T20:11:30.270Z,1758399090.270 [DAT](INFO): DAT read: 20:11:31.7932 LVL= 25680, 27265, 27378, 30515, AGC= 65, IDX= 403,-0.01, 0.811,-0.825, 1.129, 0.700, PHS= 0.213,-1.480, 0.385, RAW= 154.8, 9.9, CAL= 154.6, 10.7, ROT= 355.4, -10.7
2025-09-20T20:11:30.271Z,1758399090.271 [DAT](INFO): got valid direction response:
20:11:31.7932 LVL= 25680, 27265, 27378, 30515, AGC= 65, IDX= 403,-0.01, 0.811,-0.825, 1.129, 0.700, PHS= 0.213,-1.480, 0.385, RAW= 154.8, 9.9, CAL= 154.6, 10.7, ROT= 355.4, -10.7
2025-09-20T20:11:30.272Z,1758399090.272 [DAT](INFO): DAT read: Bearing 52.3, -1.5 (Local)
2025-09-20T20:11:30.272Z,1758399090.272 [DAT](INFO): Local bearing/azimuth received:
Bearing 52.3, -1.5 (Local)
2025-09-20T20:11:30.274Z,1758399090.274 [DAT](INFO): DAT read: Range 11 to 50 : 64.9 m (Round-trip 86.6 ms) speed 0.7 m/s
2025-09-20T20:11:30.274Z,1758399090.274 [DAT](INFO): DAT read: user:159>
2025-09-20T20:11:30.275Z,1758399090.275 [DAT](INFO): DAT read: Tx time:20:11:32.9025
2025-09-20T20:11:30.276Z,1758399090.276 [DAT](INFO): Ping request sent.
2025-09-20T20:11:30.276Z,1758399090.276 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:30.276Z,1758399090.276 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:30.277Z,1758399090.277 [DAT](INFO): direction in FSK: [0.979448,-0.078805,0.185667]
2025-09-20T20:11:30.277Z,1758399090.277 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:30.277Z,1758399090.277 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:30.281Z,1758399090.281 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:30.281Z,1758399090.281 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:30.372Z,1758399090.372 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:11:30.509Z,1758399090.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.900002 m,
deltaT: 3.779505 s,
deltaX: -2.500000 m,
approachRate: -0.661462 m/s,
rangeRepo size: 4
2025-09-20T20:11:30.529Z,1758399090.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.639236 m,
bearing: 243.776465 deg,
lat: 36.779296 deg,
lon: -121.859584 deg,
deltaT: 3.779505 s,
deltaX: -2.489326 m,
approachRate: -0.658638 m/s,
posRepo size: 4
2025-09-20T20:11:30.536Z,1758399090.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:30.552Z,1758399090.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 61.927975 m,
bearing: 243.519817 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.121000 deg/s,
cmd heading: 245.748103 deg,
new cmd heading: 245.647380 deg.
2025-09-20T20:11:30.553Z,1758399090.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.287355 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:30.935Z,1758399090.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:30.937Z,1758399090.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 61.595825 m,
bearing: 243.450184 deg,
approach rate: -0.765598 m/s,
LOS rate: -0.161370 deg/s,
cmd heading: 245.647371 deg,
new cmd heading: 245.507353 deg.
2025-09-20T20:11:30.938Z,1758399090.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.284912 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:31.317Z,1758399091.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:31.319Z,1758399091.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:31.322Z,1758399091.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 61.327332 m,
bearing: 243.393651 deg,
approach rate: -0.698073 m/s,
LOS rate: -0.147626 deg/s,
cmd heading: 245.507352 deg,
new cmd heading: 245.393792 deg.
2025-09-20T20:11:31.323Z,1758399091.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.282929 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:31.376Z,1758399091.376 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:11:31.526Z,1758399091.526 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:31.527Z,1758399091.527 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:31.528Z,1758399091.528 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:31.762Z,1758399091.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:31.770Z,1758399091.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 61.021538 m,
bearing: 243.335557 deg,
approach rate: -0.691417 m/s,
LOS rate: -0.132013 deg/s,
cmd heading: 245.393780 deg,
new cmd heading: 245.277008 deg.
2025-09-20T20:11:31.777Z,1758399091.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501206
2025-09-20T20:11:31.778Z,1758399091.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.280891 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:32.029Z,1758399092.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752958
2025-09-20T20:11:32.156Z,1758399092.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:32.158Z,1758399092.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 60.741241 m,
bearing: 243.282200 deg,
approach rate: -0.711174 m/s,
LOS rate: -0.136003 deg/s,
cmd heading: 245.277011 deg,
new cmd heading: 245.169805 deg.
2025-09-20T20:11:32.179Z,1758399092.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.279020 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:32.280Z,1758399092.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004215
2025-09-20T20:11:32.538Z,1758399092.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261289
2025-09-20T20:11:32.675Z,1758399092.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:32.677Z,1758399092.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 60.371429 m,
bearing: 243.213766 deg,
approach rate: -0.712708 m/s,
LOS rate: -0.132694 deg/s,
cmd heading: 245.169804 deg,
new cmd heading: 245.032099 deg.
2025-09-20T20:11:32.678Z,1758399092.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.276617 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:32.785Z,1758399092.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508783
2025-09-20T20:11:33.028Z,1758399093.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:33.030Z,1758399093.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 60.121326 m,
bearing: 243.167466 deg,
approach rate: -0.708381 m/s,
LOS rate: -0.131684 deg/s,
cmd heading: 245.032108 deg,
new cmd heading: 244.939122 deg.
2025-09-20T20:11:33.031Z,1758399093.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.274994 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:33.040Z,1758399093.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763495
2025-09-20T20:11:33.288Z,1758399093.288 [DAT](INFO): DAT read: Rx Time:20:11:35.3898
2025-09-20T20:11:33.288Z,1758399093.288 [DAT](INFO): Rx dataTimestamp_ set to:1758399093.288172
2025-09-20T20:11:33.289Z,1758399093.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013308
2025-09-20T20:11:33.468Z,1758399093.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:33.470Z,1758399093.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.64 m.
2025-09-20T20:11:33.473Z,1758399093.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.639236 m,
nav range: 59.808338 m,
bearing: 243.109772 deg,
approach rate: -0.706879 m/s,
LOS rate: -0.130984 deg/s,
cmd heading: 244.939135 deg,
new cmd heading: 244.823142 deg.
2025-09-20T20:11:33.474Z,1758399093.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.272970 target range: 64.639236 and range: 64.90 m.
2025-09-20T20:11:33.543Z,1758399093.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266839
2025-09-20T20:11:33.804Z,1758399093.804 [DAT](INFO): DAT read: 20:11:35.3898 LVL= 21456, 28609, 18114, 29475, AGC= 64, IDX= 401, 0.05,-1.592, 3.044,-1.337,-1.737, PHS= 0.247,-1.457, 0.356, RAW= 153.1, 9.7, CAL= 152.8, 10.6, ROT= 357.2, -10.6
2025-09-20T20:11:33.805Z,1758399093.805 [DAT](INFO): got valid direction response:
20:11:35.3898 LVL= 21456, 28609, 18114, 29475, AGC= 64, IDX= 401, 0.05,-1.592, 3.044,-1.337,-1.737, PHS= 0.247,-1.457, 0.356, RAW= 153.1, 9.7, CAL= 152.8, 10.6, ROT= 357.2, -10.6
2025-09-20T20:11:33.806Z,1758399093.806 [DAT](INFO): DAT read: Bearing 50.7, 1.3 (Local)
2025-09-20T20:11:33.806Z,1758399093.806 [DAT](INFO): Local bearing/azimuth received:
Bearing 50.7, 1.3 (Local)
2025-09-20T20:11:33.808Z,1758399093.808 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.3 ms) speed 0.8 m/s
2025-09-20T20:11:33.809Z,1758399093.809 [DAT](INFO): DAT read: user:160>
2025-09-20T20:11:33.810Z,1758399093.810 [DAT](INFO): DAT read: Tx time:20:11:36.5024
2025-09-20T20:11:33.810Z,1758399093.810 [DAT](INFO): Ping request sent.
2025-09-20T20:11:33.810Z,1758399093.810 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:33.810Z,1758399093.810 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:33.816Z,1758399093.816 [DAT](INFO): direction in FSK: [0.981762,-0.048016,0.183951]
2025-09-20T20:11:33.816Z,1758399093.816 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:33.816Z,1758399093.816 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:33.826Z,1758399093.826 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:33.835Z,1758399093.835 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:34.024Z,1758399094.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.400002 m,
deltaT: 3.528803 s,
deltaX: -2.500000 m,
approachRate: -0.708456 m/s,
rangeRepo size: 4
2025-09-20T20:11:34.026Z,1758399094.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.146420 m,
bearing: 244.625712 deg,
lat: 36.779296 deg,
lon: -121.859584 deg,
deltaT: 3.528803 s,
deltaX: -2.492817 m,
approachRate: -0.706420 m/s,
posRepo size: 4
2025-09-20T20:11:34.027Z,1758399094.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:34.034Z,1758399094.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 59.491051 m,
bearing: 243.071637 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.130984 deg/s,
cmd heading: 244.823131 deg,
new cmd heading: 244.679375 deg.
2025-09-20T20:11:34.039Z,1758399094.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.270461 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:34.372Z,1758399094.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:34.374Z,1758399094.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 59.232388 m,
bearing: 243.026741 deg,
approach rate: -0.733247 m/s,
LOS rate: -0.127827 deg/s,
cmd heading: 244.679369 deg,
new cmd heading: 244.589184 deg.
2025-09-20T20:11:34.380Z,1758399094.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.268887 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:34.819Z,1758399094.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:34.825Z,1758399094.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 58.926651 m,
bearing: 242.972237 deg,
approach rate: -0.684599 m/s,
LOS rate: -0.122677 deg/s,
cmd heading: 244.589183 deg,
new cmd heading: 244.479611 deg.
2025-09-20T20:11:34.826Z,1758399094.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.266974 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:35.184Z,1758399095.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:35.186Z,1758399095.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 58.660969 m,
bearing: 242.924856 deg,
approach rate: -0.727343 m/s,
LOS rate: -0.130301 deg/s,
cmd heading: 244.479600 deg,
new cmd heading: 244.384408 deg.
2025-09-20T20:11:35.196Z,1758399095.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.265313 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:35.661Z,1758399095.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:35.663Z,1758399095.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:35.666Z,1758399095.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 58.310539 m,
bearing: 242.865955 deg,
approach rate: -0.731479 m/s,
LOS rate: -0.123686 deg/s,
cmd heading: 244.384414 deg,
new cmd heading: 244.265906 deg.
2025-09-20T20:11:35.667Z,1758399095.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.263244 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:35.808Z,1758399095.808 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:35.808Z,1758399095.808 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:35.808Z,1758399095.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:35.994Z,1758399095.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:35.996Z,1758399095.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 58.075874 m,
bearing: 242.826582 deg,
approach rate: -0.709405 m/s,
LOS rate: -0.119507 deg/s,
cmd heading: 244.265897 deg,
new cmd heading: 244.186833 deg.
2025-09-20T20:11:35.997Z,1758399095.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.261864 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:36.060Z,1758399096.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249933
2025-09-20T20:11:36.312Z,1758399096.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501777
2025-09-20T20:11:36.408Z,1758399096.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:36.411Z,1758399096.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 57.782124 m,
bearing: 242.776839 deg,
approach rate: -0.708328 m/s,
LOS rate: -0.120558 deg/s,
cmd heading: 244.186831 deg,
new cmd heading: 244.086838 deg.
2025-09-20T20:11:36.412Z,1758399096.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.260119 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:36.564Z,1758399096.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753759
2025-09-20T20:11:36.816Z,1758399096.816 [DAT](INFO): DAT read: Rx Time:20:11:38.9863
2025-09-20T20:11:36.817Z,1758399096.817 [DAT](INFO): Rx dataTimestamp_ set to:1758399096.816241
2025-09-20T20:11:36.817Z,1758399096.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006897
2025-09-20T20:11:36.861Z,1758399096.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:36.868Z,1758399096.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 57.477955 m,
bearing: 242.717139 deg,
approach rate: -0.672101 m/s,
LOS rate: -0.132613 deg/s,
cmd heading: 244.086837 deg,
new cmd heading: 243.966806 deg.
2025-09-20T20:11:36.869Z,1758399096.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.258024 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:37.069Z,1758399097.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258452
2025-09-20T20:11:37.282Z,1758399097.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.15 m.
2025-09-20T20:11:37.289Z,1758399097.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.146420 m,
nav range: 57.216862 m,
bearing: 242.665377 deg,
approach rate: -0.634026 m/s,
LOS rate: -0.126269 deg/s,
cmd heading: 243.966817 deg,
new cmd heading: 243.862821 deg.
2025-09-20T20:11:37.290Z,1758399097.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.256209 target range: 62.146420 and range: 62.40 m.
2025-09-20T20:11:37.326Z,1758399097.326 [DAT](INFO): DAT read: 20:11:38.9863 LVL= 26144, 30273, 23218, 30547, AGC= 65, IDX= 413, 0.13, 2.232, 0.540, 2.483, 2.063, PHS= 0.271,-1.478, 0.375, RAW= 152.9, 9.3, CAL= 152.5, 10.0, ROT= 357.5, -10.0
2025-09-20T20:11:37.327Z,1758399097.327 [DAT](INFO): got valid direction response:
20:11:38.9863 LVL= 26144, 30273, 23218, 30547, AGC= 65, IDX= 413, 0.13, 2.232, 0.540, 2.483, 2.063, PHS= 0.271,-1.478, 0.375, RAW= 152.9, 9.3, CAL= 152.5, 10.0, ROT= 357.5, -10.0
2025-09-20T20:11:37.328Z,1758399097.328 [DAT](INFO): DAT read: Bearing 48.9, 3.0 (Local)
2025-09-20T20:11:37.328Z,1758399097.328 [DAT](INFO): Local bearing/azimuth received:
Bearing 48.9, 3.0 (Local)
2025-09-20T20:11:37.330Z,1758399097.330 [DAT](INFO): DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.7 ms) speed 0.7 m/s
2025-09-20T20:11:37.330Z,1758399097.330 [DAT](INFO): DAT read: user:161>
2025-09-20T20:11:37.331Z,1758399097.331 [DAT](INFO): DAT read: Tx time:20:11:40.1024
2025-09-20T20:11:37.332Z,1758399097.332 [DAT](INFO): Ping request sent.
2025-09-20T20:11:37.332Z,1758399097.332 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:37.332Z,1758399097.332 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:37.333Z,1758399097.333 [DAT](INFO): direction in FSK: [0.983870,-0.042957,0.173648]
2025-09-20T20:11:37.333Z,1758399097.333 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:37.334Z,1758399097.334 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:37.337Z,1758399097.337 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:37.337Z,1758399097.337 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:37.705Z,1758399097.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 59.700001 m,
deltaT: 3.527285 s,
deltaX: -2.700001 m,
approachRate: -0.765461 m/s,
rangeRepo size: 4
2025-09-20T20:11:37.709Z,1758399097.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 59.457405 m,
bearing: 243.996031 deg,
lat: 36.779296 deg,
lon: -121.859591 deg,
deltaT: 3.527285 s,
deltaX: -2.689014 m,
approachRate: -0.762347 m/s,
posRepo size: 4
2025-09-20T20:11:37.710Z,1758399097.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:37.710Z,1758399097.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:37.713Z,1758399097.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 57.373249 m,
bearing: 242.856482 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.126269 deg/s,
cmd heading: 243.862834 deg,
new cmd heading: 243.753756 deg.
2025-09-20T20:11:37.714Z,1758399097.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.254306 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:37.727Z,1758399097.727 [DockingStepper](INFO): Changing to mode: 2
2025-09-20T20:11:38.081Z,1758399098.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:38.090Z,1758399098.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:38.091Z,1758399098.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:38.108Z,1758399098.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 57.118332 m,
bearing: 242.806636 deg,
approach rate: -0.663330 m/s,
LOS rate: -0.130284 deg/s,
cmd heading: 243.753769 deg,
new cmd heading: 243.653633 deg.
2025-09-20T20:11:38.109Z,1758399098.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.252558 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:38.328Z,1758399098.328 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:38.328Z,1758399098.328 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:38.328Z,1758399098.328 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:38.465Z,1758399098.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:38.466Z,1758399098.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:38.469Z,1758399098.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 56.829159 m,
bearing: 242.750269 deg,
approach rate: -0.768620 m/s,
LOS rate: -0.150587 deg/s,
cmd heading: 243.653639 deg,
new cmd heading: 243.540330 deg.
2025-09-20T20:11:38.470Z,1758399098.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.250581 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:38.581Z,1758399098.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249015
2025-09-20T20:11:38.832Z,1758399098.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500138
2025-09-20T20:11:38.916Z,1758399098.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:38.916Z,1758399098.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:38.921Z,1758399098.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 56.515366 m,
bearing: 242.686060 deg,
approach rate: -0.696286 m/s,
LOS rate: -0.143265 deg/s,
cmd heading: 243.540340 deg,
new cmd heading: 243.411210 deg.
2025-09-20T20:11:38.922Z,1758399098.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.248327 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:39.086Z,1758399099.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753454
2025-09-20T20:11:39.275Z,1758399099.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:39.291Z,1758399099.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:39.294Z,1758399099.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 56.265392 m,
bearing: 242.635524 deg,
approach rate: -0.696603 m/s,
LOS rate: -0.141455 deg/s,
cmd heading: 243.411222 deg,
new cmd heading: 243.309701 deg.
2025-09-20T20:11:39.299Z,1758399099.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.246555 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:39.336Z,1758399099.336 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004465
2025-09-20T20:11:39.591Z,1758399099.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259223
2025-09-20T20:11:39.745Z,1758399099.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:39.745Z,1758399099.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:39.748Z,1758399099.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 55.942310 m,
bearing: 242.574146 deg,
approach rate: -0.686954 m/s,
LOS rate: -0.131258 deg/s,
cmd heading: 243.309698 deg,
new cmd heading: 243.186233 deg.
2025-09-20T20:11:39.749Z,1758399099.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.244401 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:39.841Z,1758399099.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509190
2025-09-20T20:11:40.094Z,1758399100.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761462
2025-09-20T20:11:40.110Z,1758399100.110 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:40.118Z,1758399100.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:40.127Z,1758399100.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:40.130Z,1758399100.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 55.695911 m,
bearing: 242.527943 deg,
approach rate: -0.663778 m/s,
LOS rate: -0.125019 deg/s,
cmd heading: 243.186235 deg,
new cmd heading: 243.093420 deg.
2025-09-20T20:11:40.143Z,1758399100.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.242781 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:40.344Z,1758399100.344 [DAT](INFO): DAT read: Rx Time:20:11:42.5829
2025-09-20T20:11:40.344Z,1758399100.344 [DAT](INFO): Rx dataTimestamp_ set to:1758399100.344107
2025-09-20T20:11:40.345Z,1758399100.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013146
2025-09-20T20:11:40.502Z,1758399100.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.46 m.
2025-09-20T20:11:40.502Z,1758399100.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m.
2025-09-20T20:11:40.505Z,1758399100.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 59.457405 m,
nav range: 55.434898 m,
bearing: 242.479114 deg,
approach rate: -0.711824 m/s,
LOS rate: -0.133792 deg/s,
cmd heading: 243.093427 deg,
new cmd heading: 242.995308 deg.
2025-09-20T20:11:40.506Z,1758399100.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.241068 target range: 59.457405 and range: 59.70 m.
2025-09-20T20:11:40.597Z,1758399100.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265059
2025-09-20T20:11:40.878Z,1758399100.878 [DAT](INFO): DAT read: 20:11:42.5829 LVL= 21824, 31857, 27106, 32755, AGC= 60, IDX= 410, 0.39,-3.062, 1.551,-2.741, 3.053, PHS= 0.271,-1.456, 0.446, RAW= 154.8, 8.2, CAL= 154.3, 8.6, ROT= 355.7, -8.6
2025-09-20T20:11:40.880Z,1758399100.880 [DAT](INFO): got valid direction response:
20:11:42.5829 LVL= 21824, 31857, 27106, 32755, AGC= 60, IDX= 410, 0.39,-3.062, 1.551,-2.741, 3.053, PHS= 0.271,-1.456, 0.446, RAW= 154.8, 8.2, CAL= 154.3, 8.6, ROT= 355.7, -8.6
2025-09-20T20:11:40.881Z,1758399100.881 [DAT](INFO): DAT read: Bearing 46.3, 2.6 (Local)
2025-09-20T20:11:40.881Z,1758399100.881 [DAT](INFO): Local bearing/azimuth received:
Bearing 46.3, 2.6 (Local)
2025-09-20T20:11:40.883Z,1758399100.883 [DAT](INFO): DAT read: Range 11 to 50 : 57.2 m (Round-trip 76.3 ms) speed 0.8 m/s
2025-09-20T20:11:40.884Z,1758399100.884 [DAT](INFO): DAT read: user:162>
2025-09-20T20:11:40.884Z,1758399100.884 [DAT](INFO): DAT read: Tx time:20:11:43.7024
2025-09-20T20:11:40.885Z,1758399100.885 [DAT](INFO): Ping request sent.
2025-09-20T20:11:40.885Z,1758399100.885 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:40.885Z,1758399100.885 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:40.886Z,1758399100.886 [DAT](INFO): direction in FSK: [0.985973,-0.074135,0.149535]
2025-09-20T20:11:40.886Z,1758399100.886 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:40.886Z,1758399100.886 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:40.906Z,1758399100.906 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:40.906Z,1758399100.906 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:41.024Z,1758399101.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 57.200001 m,
deltaT: 3.529897 s,
deltaX: -2.500000 m,
approachRate: -0.708236 m/s,
rangeRepo size: 4
2025-09-20T20:11:41.026Z,1758399101.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 56.967892 m,
bearing: 241.188066 deg,
lat: 36.779296 deg,
lon: -121.859591 deg,
deltaT: 3.529897 s,
deltaX: -2.489513 m,
approachRate: -0.705265 m/s,
posRepo size: 4
2025-09-20T20:11:41.027Z,1758399101.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:41.031Z,1758399101.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:41.034Z,1758399101.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 55.091385 m,
bearing: 242.407290 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.133792 deg/s,
cmd heading: 242.995318 deg,
new cmd heading: 242.854018 deg.
2025-09-20T20:11:41.039Z,1758399101.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.238602 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:41.346Z,1758399101.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:41.346Z,1758399101.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:41.354Z,1758399101.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 54.850384 m,
bearing: 242.356636 deg,
approach rate: -0.719653 m/s,
LOS rate: -0.151922 deg/s,
cmd heading: 242.854015 deg,
new cmd heading: 242.752262 deg.
2025-09-20T20:11:41.360Z,1758399101.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.236826 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:41.754Z,1758399101.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:41.755Z,1758399101.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:41.758Z,1758399101.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 54.562382 m,
bearing: 242.299584 deg,
approach rate: -0.704783 m/s,
LOS rate: -0.140351 deg/s,
cmd heading: 242.752272 deg,
new cmd heading: 242.637567 deg.
2025-09-20T20:11:41.759Z,1758399101.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.234825 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:42.128Z,1758399102.128 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:42.130Z,1758399102.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:42.130Z,1758399102.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:42.133Z,1758399102.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 54.301384 m,
bearing: 242.247636 deg,
approach rate: -0.695499 m/s,
LOS rate: -0.139094 deg/s,
cmd heading: 242.637580 deg,
new cmd heading: 242.533185 deg.
2025-09-20T20:11:42.134Z,1758399102.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.233003 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:42.360Z,1758399102.360 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:42.361Z,1758399102.361 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:42.361Z,1758399102.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:42.532Z,1758399102.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:42.533Z,1758399102.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:42.536Z,1758399102.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 54.021545 m,
bearing: 242.191681 deg,
approach rate: -0.695495 m/s,
LOS rate: -0.139788 deg/s,
cmd heading: 242.533187 deg,
new cmd heading: 242.420697 deg.
2025-09-20T20:11:42.536Z,1758399102.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.231040 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:42.612Z,1758399102.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727287
2025-09-20T20:11:42.865Z,1758399102.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980332
2025-09-20T20:11:43.010Z,1758399103.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:43.011Z,1758399103.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:43.014Z,1758399103.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 53.695549 m,
bearing: 242.120565 deg,
approach rate: -0.681843 m/s,
LOS rate: -0.149648 deg/s,
cmd heading: 242.420708 deg,
new cmd heading: 242.277611 deg.
2025-09-20T20:11:43.015Z,1758399103.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.228542 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:43.116Z,1758399103.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.231384
2025-09-20T20:11:43.368Z,1758399103.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483370
2025-09-20T20:11:43.372Z,1758399103.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:43.373Z,1758399103.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:43.376Z,1758399103.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 53.452358 m,
bearing: 242.067159 deg,
approach rate: -0.682053 m/s,
LOS rate: -0.150463 deg/s,
cmd heading: 242.277602 deg,
new cmd heading: 242.170304 deg.
2025-09-20T20:11:43.377Z,1758399103.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.226669 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:43.621Z,1758399103.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.736190
2025-09-20T20:11:43.815Z,1758399103.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:43.815Z,1758399103.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.20 m.
2025-09-20T20:11:43.816Z,1758399103.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.20 m.
2025-09-20T20:11:43.816Z,1758399103.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-09-20T20:11:43.818Z,1758399103.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 53.147190 m,
bearing: 242.004414 deg,
approach rate: -0.681543 m/s,
LOS rate: -0.140935 deg/s,
cmd heading: 242.170313 deg,
new cmd heading: 242.044103 deg.
2025-09-20T20:11:43.840Z,1758399103.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.224466 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:43.875Z,1758399103.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.990776
2025-09-20T20:11:43.879Z,1758399103.879 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-09-20T20:11:43.880Z,1758399103.880 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-09-20T20:11:44.124Z,1758399104.124 [DAT](INFO): DAT read: Rx Time:20:11:46.1795
2025-09-20T20:11:44.124Z,1758399104.124 [DAT](INFO): Rx dataTimestamp_ set to:1758399104.124134
2025-09-20T20:11:44.125Z,1758399104.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240259
2025-09-20T20:11:44.227Z,1758399104.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:44.230Z,1758399104.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:44.232Z,1758399104.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 52.864201 m,
bearing: 241.945612 deg,
approach rate: -0.681781 m/s,
LOS rate: -0.142424 deg/s,
cmd heading: 242.044091 deg,
new cmd heading: 241.925858 deg.
2025-09-20T20:11:44.233Z,1758399104.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.222403 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:44.376Z,1758399104.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491252
2025-09-20T20:11:44.602Z,1758399104.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.97 m.
2025-09-20T20:11:44.605Z,1758399104.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 56.967892 m,
nav range: 52.609348 m,
bearing: 241.892270 deg,
approach rate: -0.683883 m/s,
LOS rate: -0.143834 deg/s,
cmd heading: 241.925847 deg,
new cmd heading: 241.818646 deg.
2025-09-20T20:11:44.606Z,1758399104.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.220531 target range: 56.967892 and range: 57.20 m.
2025-09-20T20:11:44.634Z,1758399104.634 [DAT](INFO): DAT read: 20:11:46.1795 LVL= 21824, 25697, 24818, 32755, AGC= 62, IDX= 408, 0.46, 1.368,-0.306, 1.621, 1.159, PHS= 0.311,-1.420, 0.418, RAW= 153.0, 7.8, CAL= 152.5, 8.2, ROT= 357.5, -8.2
2025-09-20T20:11:44.636Z,1758399104.636 [DAT](INFO): got valid direction response:
20:11:46.1795 LVL= 21824, 25697, 24818, 32755, AGC= 62, IDX= 408, 0.46, 1.368,-0.306, 1.621, 1.159, PHS= 0.311,-1.420, 0.418, RAW= 153.0, 7.8, CAL= 152.5, 8.2, ROT= 357.5, -8.2
2025-09-20T20:11:44.637Z,1758399104.637 [DAT](INFO): DAT read: Bearing 45.3, 5.6 (Local)
2025-09-20T20:11:44.638Z,1758399104.638 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.3, 5.6 (Local)
2025-09-20T20:11:44.640Z,1758399104.640 [DAT](INFO): DAT read: Range 11 to 50 : 54.7 m (Round-trip 73.0 ms) speed 1.0 m/s
2025-09-20T20:11:44.641Z,1758399104.641 [DAT](INFO): DAT read: user:163>
2025-09-20T20:11:44.642Z,1758399104.642 [DAT](INFO): DAT read: Tx time:20:11:47.3024
2025-09-20T20:11:44.644Z,1758399104.644 [DAT](INFO): Ping request sent.
2025-09-20T20:11:44.644Z,1758399104.644 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:44.645Z,1758399104.645 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:44.646Z,1758399104.646 [DAT](INFO): direction in FSK: [0.988834,-0.043173,0.142629]
2025-09-20T20:11:44.657Z,1758399104.657 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:44.658Z,1758399104.658 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:44.662Z,1758399104.662 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:44.663Z,1758399104.663 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:45.020Z,1758399105.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 54.700001 m,
deltaT: 3.778158 s,
deltaX: -2.500000 m,
approachRate: -0.661698 m/s,
rangeRepo size: 4
2025-09-20T20:11:45.022Z,1758399105.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 54.477577 m,
bearing: 242.585589 deg,
lat: 36.779303 deg,
lon: -121.859592 deg,
deltaT: 3.778158 s,
deltaX: -2.490314 m,
approachRate: -0.659135 m/s,
posRepo size: 4
2025-09-20T20:11:45.023Z,1758399105.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:45.042Z,1758399105.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 52.081425 m,
bearing: 242.585777 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.143834 deg/s,
cmd heading: 241.818640 deg,
new cmd heading: 241.698723 deg.
2025-09-20T20:11:45.042Z,1758399105.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.218439 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:45.407Z,1758399105.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:45.410Z,1758399105.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 51.813595 m,
bearing: 242.537142 deg,
approach rate: -0.690898 m/s,
LOS rate: -0.126106 deg/s,
cmd heading: 241.698729 deg,
new cmd heading: 241.600958 deg.
2025-09-20T20:11:45.411Z,1758399105.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.216732 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:45.843Z,1758399105.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:45.846Z,1758399105.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 51.518215 m,
bearing: 242.483359 deg,
approach rate: -0.676969 m/s,
LOS rate: -0.123970 deg/s,
cmd heading: 241.600948 deg,
new cmd heading: 241.492766 deg.
2025-09-20T20:11:45.871Z,1758399105.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.214844 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:46.236Z,1758399106.236 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:46.238Z,1758399106.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:46.249Z,1758399106.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 51.278320 m,
bearing: 242.439229 deg,
approach rate: -0.607646 m/s,
LOS rate: -0.112304 deg/s,
cmd heading: 241.492758 deg,
new cmd heading: 241.404084 deg.
2025-09-20T20:11:46.250Z,1758399106.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213296 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:46.392Z,1758399106.392 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:46.392Z,1758399106.392 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:46.392Z,1758399106.392 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:46.637Z,1758399106.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:46.644Z,1758399106.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999961
2025-09-20T20:11:46.646Z,1758399106.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 50.991802 m,
bearing: 242.385838 deg,
approach rate: -0.717623 m/s,
LOS rate: -0.134477 deg/s,
cmd heading: 241.404075 deg,
new cmd heading: 241.296692 deg.
2025-09-20T20:11:46.647Z,1758399106.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.211422 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:46.900Z,1758399106.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255199
2025-09-20T20:11:47.073Z,1758399107.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:47.078Z,1758399107.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 50.691631 m,
bearing: 242.323669 deg,
approach rate: -0.689444 m/s,
LOS rate: -0.143636 deg/s,
cmd heading: 241.296704 deg,
new cmd heading: 241.171632 deg.
2025-09-20T20:11:47.081Z,1758399107.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.209239 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:47.149Z,1758399107.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504609
2025-09-20T20:11:47.400Z,1758399107.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755900
2025-09-20T20:11:47.466Z,1758399107.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:47.469Z,1758399107.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 50.423561 m,
bearing: 242.267513 deg,
approach rate: -0.681341 m/s,
LOS rate: -0.143488 deg/s,
cmd heading: 241.171630 deg,
new cmd heading: 241.058721 deg.
2025-09-20T20:11:47.470Z,1758399107.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.207268 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:47.652Z,1758399107.652 [DAT](INFO): DAT read: Rx Time:20:11:49.7762
2025-09-20T20:11:47.652Z,1758399107.652 [DAT](INFO): Rx dataTimestamp_ set to:1758399107.652204
2025-09-20T20:11:47.653Z,1758399107.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008879
2025-09-20T20:11:47.904Z,1758399107.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259854
2025-09-20T20:11:47.943Z,1758399107.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.48 m.
2025-09-20T20:11:47.946Z,1758399107.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 54.477577 m,
nav range: 50.096718 m,
bearing: 242.200409 deg,
approach rate: -0.685529 m/s,
LOS rate: -0.141664 deg/s,
cmd heading: 241.058713 deg,
new cmd heading: 240.923630 deg.
2025-09-20T20:11:47.947Z,1758399107.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.204911 target range: 54.477577 and range: 54.70 m.
2025-09-20T20:11:48.162Z,1758399108.162 [DAT](INFO): DAT read: 20:11:49.7762 LVL= 23968, 26705, 24626, 32755, AGC= 63, IDX= 406, 0.20, 0.989,-0.702, 1.259, 0.757, PHS= 0.334,-1.414, 0.459, RAW= 153.4, 6.9, CAL= 152.8, 7.2, ROT= 357.2, -7.2
2025-09-20T20:11:48.163Z,1758399108.163 [DAT](INFO): got valid direction response:
20:11:49.7762 LVL= 23968, 26705, 24626, 32755, AGC= 63, IDX= 406, 0.20, 0.989,-0.702, 1.259, 0.757, PHS= 0.334,-1.414, 0.459, RAW= 153.4, 6.9, CAL= 152.8, 7.2, ROT= 357.2, -7.2
2025-09-20T20:11:48.164Z,1758399108.164 [DAT](INFO): DAT read: Bearing 44.0, 6.3 (Local)
2025-09-20T20:11:48.164Z,1758399108.164 [DAT](INFO): Local bearing/azimuth received:
Bearing 44.0, 6.3 (Local)
2025-09-20T20:11:48.165Z,1758399108.165 [DAT](INFO): DAT read: Range 11 to 50 : 52.2 m (Round-trip 69.7 ms) speed 0.6 m/s
2025-09-20T20:11:48.166Z,1758399108.166 [DAT](INFO): DAT read: user:164>
2025-09-20T20:11:48.167Z,1758399108.167 [DAT](INFO): DAT read: Tx time:20:11:50.9024
2025-09-20T20:11:48.167Z,1758399108.167 [DAT](INFO): Ping request sent.
2025-09-20T20:11:48.167Z,1758399108.167 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:48.168Z,1758399108.168 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:48.169Z,1758399108.169 [DAT](INFO): direction in FSK: [0.990930,-0.048464,0.125333]
2025-09-20T20:11:48.169Z,1758399108.169 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:48.169Z,1758399108.169 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:48.177Z,1758399108.177 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:48.177Z,1758399108.177 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:48.320Z,1758399108.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.200001 m,
deltaT: 3.527800 s,
deltaX: -2.500000 m,
approachRate: -0.708657 m/s,
rangeRepo size: 4
2025-09-20T20:11:48.322Z,1758399108.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 51.986904 m,
bearing: 242.206369 deg,
lat: 36.779303 deg,
lon: -121.859592 deg,
deltaT: 3.527800 s,
deltaX: -2.490673 m,
approachRate: -0.706013 m/s,
posRepo size: 4
2025-09-20T20:11:48.327Z,1758399108.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:48.330Z,1758399108.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 49.828888 m,
bearing: 242.209732 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.141664 deg/s,
cmd heading: 240.923639 deg,
new cmd heading: 240.816873 deg.
2025-09-20T20:11:48.335Z,1758399108.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.203047 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:48.696Z,1758399108.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:48.698Z,1758399108.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:48.701Z,1758399108.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 49.554413 m,
bearing: 242.152433 deg,
approach rate: -0.724974 m/s,
LOS rate: -0.152184 deg/s,
cmd heading: 240.816870 deg,
new cmd heading: 240.701636 deg.
2025-09-20T20:11:48.702Z,1758399108.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.201036 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:48.913Z,1758399108.913 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:48.913Z,1758399108.913 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:48.913Z,1758399108.913 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:49.116Z,1758399109.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:49.120Z,1758399109.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 49.276756 m,
bearing: 242.096302 deg,
approach rate: -0.664215 m/s,
LOS rate: -0.135033 deg/s,
cmd heading: 240.701631 deg,
new cmd heading: 240.588737 deg.
2025-09-20T20:11:49.121Z,1758399109.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.199066 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:49.164Z,1758399109.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997154
2025-09-20T20:11:49.416Z,1758399109.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248639
2025-09-20T20:11:49.490Z,1758399109.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:49.492Z,1758399109.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 49.028946 m,
bearing: 242.045734 deg,
approach rate: -0.663709 m/s,
LOS rate: -0.136121 deg/s,
cmd heading: 240.588742 deg,
new cmd heading: 240.487094 deg.
2025-09-20T20:11:49.493Z,1758399109.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.197291 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:49.672Z,1758399109.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504182
2025-09-20T20:11:49.920Z,1758399109.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752800
2025-09-20T20:11:49.929Z,1758399109.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:49.936Z,1758399109.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 48.750114 m,
bearing: 241.979976 deg,
approach rate: -0.635198 m/s,
LOS rate: -0.150659 deg/s,
cmd heading: 240.487081 deg,
new cmd heading: 240.354813 deg.
2025-09-20T20:11:49.937Z,1758399109.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.194983 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:50.172Z,1758399110.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005198
2025-09-20T20:11:50.340Z,1758399110.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:50.343Z,1758399110.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 48.462910 m,
bearing: 241.911570 deg,
approach rate: -0.697878 m/s,
LOS rate: -0.167202 deg/s,
cmd heading: 240.354821 deg,
new cmd heading: 240.217201 deg.
2025-09-20T20:11:50.344Z,1758399110.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.192581 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:50.425Z,1758399110.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257287
2025-09-20T20:11:50.676Z,1758399110.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508833
2025-09-20T20:11:50.713Z,1758399110.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:50.719Z,1758399110.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:50.722Z,1758399110.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 48.224453 m,
bearing: 241.854326 deg,
approach rate: -0.636095 m/s,
LOS rate: -0.153458 deg/s,
cmd heading: 240.217207 deg,
new cmd heading: 240.102151 deg.
2025-09-20T20:11:50.727Z,1758399110.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.190573 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:50.928Z,1758399110.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760658
2025-09-20T20:11:51.141Z,1758399111.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:51.144Z,1758399111.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 47.926628 m,
bearing: 241.779874 deg,
approach rate: -0.698559 m/s,
LOS rate: -0.175715 deg/s,
cmd heading: 240.102159 deg,
new cmd heading: 239.952330 deg.
2025-09-20T20:11:51.145Z,1758399111.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.187958 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:51.181Z,1758399111.181 [DAT](INFO): DAT read: Rx Time:20:11:53.3729
2025-09-20T20:11:51.182Z,1758399111.182 [DAT](INFO): Rx dataTimestamp_ set to:1758399111.181266
2025-09-20T20:11:51.182Z,1758399111.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014892
2025-09-20T20:11:51.436Z,1758399111.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268821
2025-09-20T20:11:51.508Z,1758399111.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.99 m.
2025-09-20T20:11:51.512Z,1758399111.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 51.986904 m,
nav range: 47.679863 m,
bearing: 241.717777 deg,
approach rate: -0.672092 m/s,
LOS rate: -0.170003 deg/s,
cmd heading: 239.952332 deg,
new cmd heading: 239.827496 deg.
2025-09-20T20:11:51.513Z,1758399111.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.185780 target range: 51.986904 and range: 52.20 m.
2025-09-20T20:11:51.696Z,1758399111.696 [DAT](INFO): DAT read: 20:11:53.3729 LVL= 24848, 28145, 26450, 32755, AGC= 62, IDX= 405,-0.29, 1.799, 0.135, 2.099, 1.629, PHS= 0.272,-1.449, 0.426, RAW= 154.2, 8.4, CAL= 153.8, 8.9, ROT= 356.2, -8.9
2025-09-20T20:11:51.697Z,1758399111.697 [DAT](INFO): got valid direction response:
20:11:53.3729 LVL= 24848, 28145, 26450, 32755, AGC= 62, IDX= 405,-0.29, 1.799, 0.135, 2.099, 1.629, PHS= 0.272,-1.449, 0.426, RAW= 154.2, 8.4, CAL= 153.8, 8.9, ROT= 356.2, -8.9
2025-09-20T20:11:51.698Z,1758399111.698 [DAT](INFO): DAT read: Bearing 45.3, 6.0 (Local)
2025-09-20T20:11:51.699Z,1758399111.699 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.3, 6.0 (Local)
2025-09-20T20:11:51.701Z,1758399111.701 [DAT](INFO): DAT read: Range 11 to 50 : 49.8 m (Round-trip 66.4 ms) speed 0.5 m/s
2025-09-20T20:11:51.702Z,1758399111.702 [DAT](INFO): DAT read: user:165>
2025-09-20T20:11:51.706Z,1758399111.706 [DAT](INFO): DAT read: Tx time:20:11:54.5024
2025-09-20T20:11:51.709Z,1758399111.709 [DAT](INFO): Ping request sent.
2025-09-20T20:11:51.709Z,1758399111.709 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:51.710Z,1758399111.710 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:51.712Z,1758399111.712 [DAT](INFO): direction in FSK: [0.985788,-0.065476,0.154710]
2025-09-20T20:11:51.712Z,1758399111.712 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:51.713Z,1758399111.713 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:51.718Z,1758399111.718 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:51.718Z,1758399111.718 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:51.984Z,1758399111.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.799999 m,
deltaT: 3.534220 s,
deltaX: -2.400002 m,
approachRate: -0.679075 m/s,
rangeRepo size: 4
2025-09-20T20:11:51.986Z,1758399111.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 49.594482 m,
bearing: 240.882044 deg,
lat: 36.779303 deg,
lon: -121.859592 deg,
deltaT: 3.534220 s,
deltaX: -2.392422 m,
approachRate: -0.676931 m/s,
posRepo size: 4
2025-09-20T20:11:51.986Z,1758399111.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:51.993Z,1758399111.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 47.404362 m,
bearing: 241.576391 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.170003 deg/s,
cmd heading: 239.827503 deg,
new cmd heading: 239.667552 deg.
2025-09-20T20:11:51.994Z,1758399111.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.182988 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:52.331Z,1758399112.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:52.334Z,1758399112.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 47.170776 m,
bearing: 241.516176 deg,
approach rate: -0.663380 m/s,
LOS rate: -0.171858 deg/s,
cmd heading: 239.667540 deg,
new cmd heading: 239.546514 deg.
2025-09-20T20:11:52.335Z,1758399112.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.180875 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:52.718Z,1758399112.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:52.720Z,1758399112.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:52.739Z,1758399112.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 46.901653 m,
bearing: 241.446653 deg,
approach rate: -0.690968 m/s,
LOS rate: -0.179524 deg/s,
cmd heading: 239.546509 deg,
new cmd heading: 239.406665 deg.
2025-09-20T20:11:52.740Z,1758399112.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.178434 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:52.949Z,1758399112.949 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:52.949Z,1758399112.949 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:52.949Z,1758399112.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:53.144Z,1758399113.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:53.146Z,1758399113.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 46.632450 m,
bearing: 241.380762 deg,
approach rate: -0.635999 m/s,
LOS rate: -0.156566 deg/s,
cmd heading: 239.406654 deg,
new cmd heading: 239.274114 deg.
2025-09-20T20:11:53.148Z,1758399113.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.176121 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:53.201Z,1758399113.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491485
2025-09-20T20:11:53.452Z,1758399113.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742471
2025-09-20T20:11:53.527Z,1758399113.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:53.530Z,1758399113.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 46.387978 m,
bearing: 241.320672 deg,
approach rate: -0.637535 m/s,
LOS rate: -0.157530 deg/s,
cmd heading: 239.274121 deg,
new cmd heading: 239.153307 deg.
2025-09-20T20:11:53.531Z,1758399113.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.174013 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:53.704Z,1758399113.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994551
2025-09-20T20:11:53.951Z,1758399113.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:53.954Z,1758399113.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 46.115200 m,
bearing: 241.252817 deg,
approach rate: -0.644415 m/s,
LOS rate: -0.161251 deg/s,
cmd heading: 239.153309 deg,
new cmd heading: 239.016796 deg.
2025-09-20T20:11:53.954Z,1758399113.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.171630 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:53.956Z,1758399113.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246610
2025-09-20T20:11:54.208Z,1758399114.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498465
2025-09-20T20:11:54.348Z,1758399114.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:54.351Z,1758399114.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 45.869358 m,
bearing: 241.191182 deg,
approach rate: -0.618405 m/s,
LOS rate: -0.155869 deg/s,
cmd heading: 239.016787 deg,
new cmd heading: 238.892859 deg.
2025-09-20T20:11:54.352Z,1758399114.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169467 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:54.460Z,1758399114.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750648
2025-09-20T20:11:54.712Z,1758399114.712 [DAT](INFO): DAT read: Rx Time:20:11:56.9699
2025-09-20T20:11:54.713Z,1758399114.713 [DAT](INFO): Rx dataTimestamp_ set to:1758399114.712251
2025-09-20T20:11:54.713Z,1758399114.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003608
2025-09-20T20:11:54.737Z,1758399114.737 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:54.739Z,1758399114.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:54.742Z,1758399114.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 45.607731 m,
bearing: 241.125160 deg,
approach rate: -0.668909 m/s,
LOS rate: -0.169769 deg/s,
cmd heading: 238.892860 deg,
new cmd heading: 238.760059 deg.
2025-09-20T20:11:54.768Z,1758399114.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.167149 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:54.964Z,1758399114.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254756
2025-09-20T20:11:55.160Z,1758399115.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.59 m.
2025-09-20T20:11:55.163Z,1758399115.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 49.594482 m,
nav range: 45.344090 m,
bearing: 241.055558 deg,
approach rate: -0.625948 m/s,
LOS rate: -0.166214 deg/s,
cmd heading: 238.760054 deg,
new cmd heading: 238.620040 deg.
2025-09-20T20:11:55.164Z,1758399115.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.164705 target range: 49.594482 and range: 49.80 m.
2025-09-20T20:11:55.219Z,1758399115.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509359
2025-09-20T20:11:55.481Z,1758399115.481 [DAT](INFO): DAT read: 20:11:56.9699 LVL= 26352, 28609, 25010, 32755, AGC= 61, IDX= 405, 0.20, 1.284,-0.416, 1.574, 1.052, PHS= 0.334,-1.423, 0.478, RAW= 153.9, 6.7, CAL= 153.3, 6.9, ROT= 356.7, -6.9
2025-09-20T20:11:55.482Z,1758399115.482 [DAT](INFO): got valid direction response:
20:11:56.9699 LVL= 26352, 28609, 25010, 32755, AGC= 61, IDX= 405, 0.20, 1.284,-0.416, 1.574, 1.052, PHS= 0.334,-1.423, 0.478, RAW= 153.9, 6.7, CAL= 153.3, 6.9, ROT= 356.7, -6.9
2025-09-20T20:11:55.484Z,1758399115.484 [DAT](INFO): DAT read: Bearing 42.7, 7.4 (Local)
2025-09-20T20:11:55.485Z,1758399115.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.7, 7.4 (Local)
2025-09-20T20:11:55.486Z,1758399115.486 [DAT](INFO): DAT read: Range 11 to 50 : 47.4 m (Round-trip 63.3 ms) speed 0.5 m/s
2025-09-20T20:11:55.489Z,1758399115.489 [DAT](INFO): DAT read: user:166>
2025-09-20T20:11:55.490Z,1758399115.490 [DAT](INFO): DAT read: Tx time:20:11:58.1024
2025-09-20T20:11:55.490Z,1758399115.490 [DAT](INFO): Ping request sent.
2025-09-20T20:11:55.490Z,1758399115.490 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:55.490Z,1758399115.490 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:55.492Z,1758399115.492 [DAT](INFO): direction in FSK: [0.991111,-0.057147,0.120137]
2025-09-20T20:11:55.492Z,1758399115.492 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:55.492Z,1758399115.492 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:55.495Z,1758399115.495 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:55.496Z,1758399115.496 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:55.621Z,1758399115.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.400002 m,
deltaT: 3.780328 s,
deltaX: -2.399998 m,
approachRate: -0.634865 m/s,
rangeRepo size: 4
2025-09-20T20:11:55.628Z,1758399115.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.203892 m,
bearing: 240.757275 deg,
lat: 36.779302 deg,
lon: -121.859589 deg,
deltaT: 3.780328 s,
deltaX: -2.390591 m,
approachRate: -0.632376 m/s,
posRepo size: 4
2025-09-20T20:11:55.628Z,1758399115.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:55.635Z,1758399115.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 44.896381 m,
bearing: 240.757439 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.166214 deg/s,
cmd heading: 238.620035 deg,
new cmd heading: 238.467069 deg.
2025-09-20T20:11:55.636Z,1758399115.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.162035 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:56.011Z,1758399116.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:56.014Z,1758399116.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 44.647411 m,
bearing: 240.701335 deg,
approach rate: -0.643796 m/s,
LOS rate: -0.145885 deg/s,
cmd heading: 238.467066 deg,
new cmd heading: 238.354232 deg.
2025-09-20T20:11:56.019Z,1758399116.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.160066 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:56.363Z,1758399116.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:56.366Z,1758399116.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 44.417725 m,
bearing: 240.649710 deg,
approach rate: -0.646235 m/s,
LOS rate: -0.145999 deg/s,
cmd heading: 238.354232 deg,
new cmd heading: 238.250449 deg.
2025-09-20T20:11:56.367Z,1758399116.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.158255 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:56.802Z,1758399116.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:56.804Z,1758399116.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:56.807Z,1758399116.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 44.144524 m,
bearing: 240.587986 deg,
approach rate: -0.619099 m/s,
LOS rate: -0.140738 deg/s,
cmd heading: 238.250440 deg,
new cmd heading: 238.126228 deg.
2025-09-20T20:11:56.808Z,1758399116.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.156087 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:56.984Z,1758399116.984 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:11:56.984Z,1758399116.984 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:11:56.984Z,1758399116.984 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:11:57.183Z,1758399117.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:57.186Z,1758399117.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 43.902027 m,
bearing: 240.530484 deg,
approach rate: -0.640071 m/s,
LOS rate: -0.152616 deg/s,
cmd heading: 238.126240 deg,
new cmd heading: 238.010600 deg.
2025-09-20T20:11:57.187Z,1758399117.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.154068 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:57.236Z,1758399117.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746501
2025-09-20T20:11:57.488Z,1758399117.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998071
2025-09-20T20:11:57.595Z,1758399117.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:57.598Z,1758399117.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 43.650833 m,
bearing: 240.470495 deg,
approach rate: -0.609372 m/s,
LOS rate: -0.146365 deg/s,
cmd heading: 238.010591 deg,
new cmd heading: 237.889922 deg.
2025-09-20T20:11:57.599Z,1758399117.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.151962 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:57.741Z,1758399117.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251222
2025-09-20T20:11:57.976Z,1758399117.976 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-3278,V
2025-09-20T20:11:57.992Z,1758399117.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502165
2025-09-20T20:11:58.007Z,1758399118.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:58.010Z,1758399118.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 43.389858 m,
bearing: 240.407913 deg,
approach rate: -0.659259 m/s,
LOS rate: -0.159040 deg/s,
cmd heading: 237.889915 deg,
new cmd heading: 237.764000 deg.
2025-09-20T20:11:58.015Z,1758399118.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.149765 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:58.244Z,1758399118.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754042
2025-09-20T20:11:58.392Z,1758399118.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:58.395Z,1758399118.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 43.135632 m,
bearing: 240.346739 deg,
approach rate: -0.633509 m/s,
LOS rate: -0.153338 deg/s,
cmd heading: 237.763994 deg,
new cmd heading: 237.640926 deg.
2025-09-20T20:11:58.396Z,1758399118.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.147616 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:58.496Z,1758399118.496 [DAT](INFO): DAT read: Rx Time:20:12:00.5668
2025-09-20T20:11:58.497Z,1758399118.497 [DAT](INFO): Rx dataTimestamp_ set to:1758399118.496382
2025-09-20T20:11:58.497Z,1758399118.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007291
2025-09-20T20:11:58.748Z,1758399118.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257975
2025-09-20T20:11:58.858Z,1758399118.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:11:58.861Z,1758399118.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.20 m.
2025-09-20T20:11:58.872Z,1758399118.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 47.203892 m,
nav range: 42.856701 m,
bearing: 240.279393 deg,
approach rate: -0.594381 m/s,
LOS rate: -0.144444 deg/s,
cmd heading: 237.640914 deg,
new cmd heading: 237.505345 deg.
2025-09-20T20:11:58.873Z,1758399118.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.145250 target range: 47.203892 and range: 47.40 m.
2025-09-20T20:11:59.009Z,1758399119.009 [DAT](INFO): DAT read: 20:12:00.5668 LVL= 22176, 27601, 20578, 31347, AGC= 60, IDX= 406, 0.18, 3.102, 1.399,-2.897, 2.880, PHS= 0.324,-1.436, 0.463, RAW= 153.8, 7.1, CAL= 153.2, 7.4, ROT= 356.8, -7.4
2025-09-20T20:11:59.011Z,1758399119.011 [DAT](INFO): got valid direction response:
20:12:00.5668 LVL= 22176, 27601, 20578, 31347, AGC= 60, IDX= 406, 0.18, 3.102, 1.399,-2.897, 2.880, PHS= 0.324,-1.436, 0.463, RAW= 153.8, 7.1, CAL= 153.2, 7.4, ROT= 356.8, -7.4
2025-09-20T20:11:59.013Z,1758399119.013 [DAT](INFO): DAT read: Bearing 42.1, 8.0 (Local)
2025-09-20T20:11:59.013Z,1758399119.013 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.1, 8.0 (Local)
2025-09-20T20:11:59.015Z,1758399119.015 [DAT](INFO): DAT read: Range 11 to 50 : 45.2 m (Round-trip 60.3 ms) speed 0.6 m/s
2025-09-20T20:11:59.016Z,1758399119.016 [DAT](INFO): DAT read: user:167>
2025-09-20T20:11:59.017Z,1758399119.017 [DAT](INFO): DAT read: Tx time:20:12:01.6524
2025-09-20T20:11:59.018Z,1758399119.018 [DAT](INFO): Ping request sent.
2025-09-20T20:11:59.018Z,1758399119.018 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:11:59.018Z,1758399119.018 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:11:59.020Z,1758399119.020 [DAT](INFO): direction in FSK: [0.990125,-0.055357,0.128796]
2025-09-20T20:11:59.021Z,1758399119.021 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:59.021Z,1758399119.021 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:59.025Z,1758399119.025 [DAT](INFO): publishing transmit ping time
2025-09-20T20:11:59.025Z,1758399119.025 [DAT](INFO): publishing direction and range info
2025-09-20T20:11:59.320Z,1758399119.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.200001 m,
deltaT: 3.530305 s,
deltaX: -2.200001 m,
approachRate: -0.623176 m/s,
rangeRepo size: 4
2025-09-20T20:11:59.322Z,1758399119.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.011784 m,
bearing: 240.231796 deg,
lat: 36.779302 deg,
lon: -121.859589 deg,
deltaT: 3.530305 s,
deltaX: -2.192108 m,
approachRate: -0.620940 m/s,
posRepo size: 4
2025-09-20T20:11:59.327Z,1758399119.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:11:59.334Z,1758399119.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 42.558578 m,
bearing: 240.231951 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.144444 deg/s,
cmd heading: 237.505348 deg,
new cmd heading: 237.377754 deg.
2025-09-20T20:11:59.335Z,1758399119.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143023 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:11:59.697Z,1758399119.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:11:59.700Z,1758399119.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 42.311832 m,
bearing: 240.171348 deg,
approach rate: -0.629657 m/s,
LOS rate: -0.155551 deg/s,
cmd heading: 237.377760 deg,
new cmd heading: 237.255848 deg.
2025-09-20T20:11:59.701Z,1758399119.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140896 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:00.120Z,1758399120.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:00.127Z,1758399120.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 42.034225 m,
bearing: 240.104761 deg,
approach rate: -0.653260 m/s,
LOS rate: -0.157726 deg/s,
cmd heading: 237.255855 deg,
new cmd heading: 237.121802 deg.
2025-09-20T20:12:00.128Z,1758399120.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.138556 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:00.497Z,1758399120.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:00.501Z,1758399120.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 41.777878 m,
bearing: 240.043426 deg,
approach rate: -0.679828 m/s,
LOS rate: -0.163657 deg/s,
cmd heading: 237.121792 deg,
new cmd heading: 236.998370 deg.
2025-09-20T20:12:00.501Z,1758399120.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.136402 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:00.889Z,1758399120.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:00.893Z,1758399120.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:00.895Z,1758399120.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 41.519810 m,
bearing: 239.981746 deg,
approach rate: -0.652542 m/s,
LOS rate: -0.156932 deg/s,
cmd heading: 236.998357 deg,
new cmd heading: 236.874230 deg.
2025-09-20T20:12:00.896Z,1758399120.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.134235 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:01.017Z,1758399121.017 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:12:01.017Z,1758399121.017 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:12:01.017Z,1758399121.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:12:01.268Z,1758399121.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250226
2025-09-20T20:12:01.324Z,1758399121.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:01.327Z,1758399121.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 41.233986 m,
bearing: 239.915119 deg,
approach rate: -0.662163 m/s,
LOS rate: -0.155425 deg/s,
cmd heading: 236.874239 deg,
new cmd heading: 236.740060 deg.
2025-09-20T20:12:01.328Z,1758399121.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.131894 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:01.497Z,1758399121.497 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:12:01.521Z,1758399121.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503050
2025-09-20T20:12:01.707Z,1758399121.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:01.710Z,1758399121.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 40.980377 m,
bearing: 239.856063 deg,
approach rate: -0.662653 m/s,
LOS rate: -0.155261 deg/s,
cmd heading: 236.740067 deg,
new cmd heading: 236.621225 deg.
2025-09-20T20:12:01.711Z,1758399121.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.129819 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:01.773Z,1758399121.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755448
2025-09-20T20:12:02.026Z,1758399122.026 [DAT](INFO): DAT read: Rx Time:20:12:04.1135
2025-09-20T20:12:02.027Z,1758399122.027 [DAT](INFO): Rx dataTimestamp_ set to:1758399122.026187
2025-09-20T20:12:02.028Z,1758399122.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009680
2025-09-20T20:12:02.148Z,1758399122.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:02.151Z,1758399122.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 40.699806 m,
bearing: 239.785266 deg,
approach rate: -0.636119 m/s,
LOS rate: -0.161619 deg/s,
cmd heading: 236.621221 deg,
new cmd heading: 236.478652 deg.
2025-09-20T20:12:02.152Z,1758399122.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127331 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:02.154Z,1758399122.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 60.383556 m.
2025-09-20T20:12:02.276Z,1758399122.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258151
2025-09-20T20:12:02.499Z,1758399122.499 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:12:02.539Z,1758399122.539 [DAT](INFO): DAT read: 20:12:04.1135 LVL= 26752, 29217, 29778, 32755, AGC= 61, IDX= 404, 0.21, 1.258,-0.472, 1.521, 1.020, PHS= 0.340,-1.447, 0.457, RAW= 153.1, 7.1, CAL= 152.5, 7.4, ROT= 357.5, -7.4
2025-09-20T20:12:02.541Z,1758399122.541 [DAT](INFO): got valid direction response:
20:12:04.1135 LVL= 26752, 29217, 29778, 32755, AGC= 61, IDX= 404, 0.21, 1.258,-0.472, 1.521, 1.020, PHS= 0.340,-1.447, 0.457, RAW= 153.1, 7.1, CAL= 152.5, 7.4, ROT= 357.5, -7.4
2025-09-20T20:12:02.543Z,1758399122.543 [DAT](INFO): DAT read: Bearing 40.5, 9.0 (Local)
2025-09-20T20:12:02.544Z,1758399122.544 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.5, 9.0 (Local)
2025-09-20T20:12:02.546Z,1758399122.546 [DAT](INFO): DAT read: Range 11 to 50 : 42.7 m (Round-trip 57.0 ms) speed 0.6 m/s
2025-09-20T20:12:02.560Z,1758399122.560 [DAT](INFO): DAT read: user:168>
2025-09-20T20:12:02.561Z,1758399122.561 [DAT](INFO): DAT read: Tx time:20:12:05.2024
2025-09-20T20:12:02.561Z,1758399122.561 [DAT](INFO): Ping request sent.
2025-09-20T20:12:02.561Z,1758399122.561 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:12:02.561Z,1758399122.561 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:12:02.562Z,1758399122.562 [DAT](INFO): direction in FSK: [0.990727,-0.043256,0.128796]
2025-09-20T20:12:02.563Z,1758399122.563 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:02.567Z,1758399122.567 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:02.570Z,1758399122.570 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:02.570Z,1758399122.570 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:02.587Z,1758399122.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.01 m.
2025-09-20T20:12:02.590Z,1758399122.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.011784 m,
nav range: 40.453259 m,
bearing: 239.722918 deg,
approach rate: -0.589051 m/s,
LOS rate: -0.149870 deg/s,
cmd heading: 236.478662 deg,
new cmd heading: 236.353206 deg.
2025-09-20T20:12:02.591Z,1758399122.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.125142 target range: 45.011784 and range: 45.20 m.
2025-09-20T20:12:02.973Z,1758399122.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 42.700001 m,
deltaT: 3.528394 s,
deltaX: -2.500000 m,
approachRate: -0.708538 m/s,
rangeRepo size: 4
2025-09-20T20:12:03.001Z,1758399123.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 42.521549 m,
bearing: 239.703818 deg,
lat: 36.779302 deg,
lon: -121.859589 deg,
deltaT: 3.528394 s,
deltaX: -2.490234 m,
approachRate: -0.705770 m/s,
posRepo size: 4
2025-09-20T20:12:03.008Z,1758399123.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:03.033Z,1758399123.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 40.182182 m,
bearing: 239.647449 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.149870 deg/s,
cmd heading: 236.353205 deg,
new cmd heading: 236.233764 deg.
2025-09-20T20:12:03.039Z,1758399123.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123057 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:03.393Z,1758399123.393 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:03.395Z,1758399123.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:03.398Z,1758399123.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 39.897243 m,
bearing: 239.568970 deg,
approach rate: -0.662863 m/s,
LOS rate: -0.183873 deg/s,
cmd heading: 236.233758 deg,
new cmd heading: 236.075679 deg.
2025-09-20T20:12:03.399Z,1758399123.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.120298 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:03.537Z,1758399123.537 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:12:03.537Z,1758399123.537 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:12:03.537Z,1758399123.537 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:12:03.777Z,1758399123.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:03.788Z,1758399123.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227401
2025-09-20T20:12:03.797Z,1758399123.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 39.660194 m,
bearing: 239.503608 deg,
approach rate: -0.620619 m/s,
LOS rate: -0.172145 deg/s,
cmd heading: 236.075681 deg,
new cmd heading: 235.944177 deg.
2025-09-20T20:12:03.803Z,1758399123.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.118003 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:04.046Z,1758399124.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484959
2025-09-20T20:12:04.222Z,1758399124.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:04.230Z,1758399124.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 39.396523 m,
bearing: 239.429122 deg,
approach rate: -0.598580 m/s,
LOS rate: -0.170229 deg/s,
cmd heading: 235.944186 deg,
new cmd heading: 235.794215 deg.
2025-09-20T20:12:04.231Z,1758399124.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.115386 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:04.296Z,1758399124.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.735038
2025-09-20T20:12:04.552Z,1758399124.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990801
2025-09-20T20:12:04.592Z,1758399124.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:04.594Z,1758399124.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 39.149998 m,
bearing: 239.359335 deg,
approach rate: -0.658355 m/s,
LOS rate: -0.187540 deg/s,
cmd heading: 235.794222 deg,
new cmd heading: 235.653771 deg.
2025-09-20T20:12:04.596Z,1758399124.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.112934 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:04.804Z,1758399124.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242928
2025-09-20T20:12:05.058Z,1758399125.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496752
2025-09-20T20:12:05.127Z,1758399125.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:05.130Z,1758399125.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 38.810421 m,
bearing: 239.271279 deg,
approach rate: -0.634304 m/s,
LOS rate: -0.165923 deg/s,
cmd heading: 235.653766 deg,
new cmd heading: 235.476112 deg.
2025-09-20T20:12:05.131Z,1758399125.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.109833 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:05.308Z,1758399125.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746847
2025-09-20T20:12:05.492Z,1758399125.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:05.494Z,1758399125.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:05.497Z,1758399125.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 38.577671 m,
bearing: 239.210014 deg,
approach rate: -0.634165 m/s,
LOS rate: -0.167933 deg/s,
cmd heading: 235.476099 deg,
new cmd heading: 235.352831 deg.
2025-09-20T20:12:05.498Z,1758399125.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.107682 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:05.562Z,1758399125.562 [DAT](INFO): DAT read: Rx Time:20:12:07.6604
2025-09-20T20:12:05.563Z,1758399125.563 [DAT](INFO): Rx dataTimestamp_ set to:1758399125.561919
2025-09-20T20:12:05.563Z,1758399125.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.002302
2025-09-20T20:12:05.813Z,1758399125.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251830
2025-09-20T20:12:05.953Z,1758399125.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.52 m.
2025-09-20T20:12:05.960Z,1758399125.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 42.521549 m,
nav range: 38.310993 m,
bearing: 239.139945 deg,
approach rate: -0.581519 m/s,
LOS rate: -0.153855 deg/s,
cmd heading: 235.352828 deg,
new cmd heading: 235.211716 deg.
2025-09-20T20:12:05.961Z,1758399125.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.105219 target range: 42.521549 and range: 42.70 m.
2025-09-20T20:12:06.070Z,1758399126.070 [DAT](INFO): DAT read: 20:12:07.6604 LVL= 27360, 32193, 23522, 32755, AGC= 58, IDX= 404,-0.00,-2.494, 2.076,-2.236,-2.731, PHS= 0.339,-1.430, 0.451, RAW= 153.0, 7.1, CAL= 152.4, 7.4, ROT= 357.6, -7.4
2025-09-20T20:12:06.071Z,1758399126.071 [DAT](INFO): got valid direction response:
20:12:07.6604 LVL= 27360, 32193, 23522, 32755, AGC= 58, IDX= 404,-0.00,-2.494, 2.076,-2.236,-2.731, PHS= 0.339,-1.430, 0.451, RAW= 153.0, 7.1, CAL= 152.4, 7.4, ROT= 357.6, -7.4
2025-09-20T20:12:06.072Z,1758399126.072 [DAT](INFO): DAT read: Bearing 38.6, 9.4 (Local)
2025-09-20T20:12:06.072Z,1758399126.072 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.6, 9.4 (Local)
2025-09-20T20:12:06.073Z,1758399126.073 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m (Round-trip 53.9 ms) speed 0.5 m/s
2025-09-20T20:12:06.074Z,1758399126.074 [DAT](INFO): DAT read: user:169>
2025-09-20T20:12:06.075Z,1758399126.075 [DAT](INFO): DAT read: Tx time:20:12:08.7524
2025-09-20T20:12:06.075Z,1758399126.075 [DAT](INFO): Ping request sent.
2025-09-20T20:12:06.075Z,1758399126.075 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:12:06.076Z,1758399126.076 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:12:06.076Z,1758399126.076 [DAT](INFO): direction in FSK: [0.990801,-0.041527,0.128796]
2025-09-20T20:12:06.077Z,1758399126.077 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:06.077Z,1758399126.077 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:06.080Z,1758399126.080 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:06.080Z,1758399126.080 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:06.578Z,1758399126.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 40.400002 m,
deltaT: 3.534798 s,
deltaX: -2.299999 m,
approachRate: -0.650673 m/s,
rangeRepo size: 4
2025-09-20T20:12:06.584Z,1758399126.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.230133 m,
bearing: 238.536699 deg,
lat: 36.779302 deg,
lon: -121.859588 deg,
deltaT: 3.534798 s,
deltaX: -2.291416 m,
approachRate: -0.648245 m/s,
posRepo size: 4
2025-09-20T20:12:06.585Z,1758399126.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:06.592Z,1758399126.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 37.863804 m,
bearing: 238.963770 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.153855 deg/s,
cmd heading: 235.211716 deg,
new cmd heading: 235.019590 deg.
2025-09-20T20:12:06.593Z,1758399126.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.101866 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:07.158Z,1758399127.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:07.161Z,1758399127.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 37.486668 m,
bearing: 238.866231 deg,
approach rate: -0.649415 m/s,
LOS rate: -0.169648 deg/s,
cmd heading: 235.019597 deg,
new cmd heading: 234.822557 deg.
2025-09-20T20:12:07.162Z,1758399127.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.098427 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:07.633Z,1758399127.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:07.635Z,1758399127.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:07.638Z,1758399127.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 37.185707 m,
bearing: 238.791089 deg,
approach rate: -0.630701 m/s,
LOS rate: -0.158745 deg/s,
cmd heading: 234.822559 deg,
new cmd heading: 234.671058 deg.
2025-09-20T20:12:07.651Z,1758399127.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.095783 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:07.828Z,1758399127.828 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:12:07.828Z,1758399127.828 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:12:07.828Z,1758399127.828 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:12:08.084Z,1758399128.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007276
2025-09-20T20:12:08.115Z,1758399128.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:08.118Z,1758399128.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 36.882011 m,
bearing: 238.715692 deg,
approach rate: -0.632479 m/s,
LOS rate: -0.158314 deg/s,
cmd heading: 234.671066 deg,
new cmd heading: 234.519032 deg.
2025-09-20T20:12:08.119Z,1758399128.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.093129 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:08.332Z,1758399128.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257057
2025-09-20T20:12:08.520Z,1758399128.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:08.530Z,1758399128.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 36.637939 m,
bearing: 238.663378 deg,
approach rate: -0.602724 m/s,
LOS rate: -0.130050 deg/s,
cmd heading: 234.519026 deg,
new cmd heading: 234.413699 deg.
2025-09-20T20:12:08.536Z,1758399128.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.091291 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:08.585Z,1758399128.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509896
2025-09-20T20:12:08.836Z,1758399128.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760633
2025-09-20T20:12:08.864Z,1758399128.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:08.866Z,1758399128.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 36.403706 m,
bearing: 238.613470 deg,
approach rate: -0.681592 m/s,
LOS rate: -0.146159 deg/s,
cmd heading: 234.413704 deg,
new cmd heading: 234.313247 deg.
2025-09-20T20:12:08.868Z,1758399128.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.089538 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:09.092Z,1758399129.092 [DAT](INFO): DAT read: Rx Time:20:12:11.2076
2025-09-20T20:12:09.094Z,1758399129.094 [DAT](INFO): Rx dataTimestamp_ set to:1758399129.092767
2025-09-20T20:12:09.100Z,1758399129.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024246
2025-09-20T20:12:09.297Z,1758399129.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.23 m.
2025-09-20T20:12:09.301Z,1758399129.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.230133 m,
nav range: 36.123009 m,
bearing: 238.551540 deg,
approach rate: -0.647417 m/s,
LOS rate: -0.143950 deg/s,
cmd heading: 234.313246 deg,
new cmd heading: 234.188423 deg.
2025-09-20T20:12:09.301Z,1758399129.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.087359 target range: 40.230133 and range: 40.40 m.
2025-09-20T20:12:09.340Z,1758399129.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265086
2025-09-20T20:12:09.598Z,1758399129.598 [DAT](INFO): DAT read: 20:12:11.2076 LVL= 18160, 27377, 19010, 29075, AGC= 58, IDX= 407,-0.06, 3.055, 1.351,-2.983, 2.810, PHS= 0.347,-1.415, 0.446, RAW= 152.7, 6.9, CAL= 152.1, 7.2, ROT= 357.9, -7.2
2025-09-20T20:12:09.599Z,1758399129.599 [DAT](INFO): got valid direction response:
20:12:11.2076 LVL= 18160, 27377, 19010, 29075, AGC= 58, IDX= 407,-0.06, 3.055, 1.351,-2.983, 2.810, PHS= 0.347,-1.415, 0.446, RAW= 152.7, 6.9, CAL= 152.1, 7.2, ROT= 357.9, -7.2
2025-09-20T20:12:09.600Z,1758399129.600 [DAT](INFO): DAT read: Bearing 36.8, 8.2 (Local)
2025-09-20T20:12:09.600Z,1758399129.600 [DAT](INFO): Local bearing/azimuth received:
Bearing 36.8, 8.2 (Local)
2025-09-20T20:12:09.602Z,1758399129.602 [DAT](INFO): DAT read: Range 11 to 50 : 38.2 m (Round-trip 51.0 ms) speed 0.6 m/s
2025-09-20T20:12:09.602Z,1758399129.602 [DAT](INFO): DAT read: user:170>
2025-09-20T20:12:09.604Z,1758399129.604 [DAT](INFO): DAT read: Tx time:20:12:12.3024
2025-09-20T20:12:09.604Z,1758399129.604 [DAT](INFO): Ping request sent.
2025-09-20T20:12:09.604Z,1758399129.604 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:12:09.605Z,1758399129.605 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:12:09.606Z,1758399129.606 [DAT](INFO): direction in FSK: [0.991448,-0.036355,0.125333]
2025-09-20T20:12:09.606Z,1758399129.606 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:09.606Z,1758399129.606 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:09.609Z,1758399129.609 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:09.610Z,1758399129.610 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:09.748Z,1758399129.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 38.200001 m,
deltaT: 3.528080 s,
deltaX: -2.200001 m,
approachRate: -0.623569 m/s,
rangeRepo size: 4
2025-09-20T20:12:09.750Z,1758399129.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.039101 m,
bearing: 237.619971 deg,
lat: 36.779302 deg,
lon: -121.859589 deg,
deltaT: 3.528080 s,
deltaX: -2.191032 m,
approachRate: -0.621027 m/s,
posRepo size: 4
2025-09-20T20:12:09.751Z,1758399129.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:09.772Z,1758399129.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 35.908600 m,
bearing: 238.548688 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.143950 deg/s,
cmd heading: 234.188417 deg,
new cmd heading: 234.061436 deg.
2025-09-20T20:12:09.773Z,1758399129.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.085143 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:10.164Z,1758399130.164 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-09-20T20:12:10.165Z,1758399130.165 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T20:12:10.165Z,1758399130.165 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-09-20T20:12:10.166Z,1758399130.166 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.200001 m (mode 2.000000 count ).
2025-09-20T20:12:10.166Z,1758399130.166 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-09-20T20:12:10.166Z,1758399130.166 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-09-20T20:12:10.168Z,1758399130.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:10.170Z,1758399130.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:10.173Z,1758399130.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 35.615173 m,
bearing: 238.491563 deg,
approach rate: -0.680007 m/s,
LOS rate: -0.133475 deg/s,
cmd heading: 234.061430 deg,
new cmd heading: 233.946240 deg.
2025-09-20T20:12:10.174Z,1758399130.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083132 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:10.348Z,1758399130.348 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:12:10.348Z,1758399130.348 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:12:10.348Z,1758399130.348 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:12:10.535Z,1758399130.535 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-09-20T20:12:10.535Z,1758399130.535 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-09-20T20:12:10.537Z,1758399130.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:10.541Z,1758399130.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 35.376076 m,
bearing: 238.444990 deg,
approach rate: -0.650870 m/s,
LOS rate: -0.127636 deg/s,
cmd heading: 233.946246 deg,
new cmd heading: 233.852472 deg.
2025-09-20T20:12:10.542Z,1758399130.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.081496 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:10.600Z,1758399130.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996166
2025-09-20T20:12:10.852Z,1758399130.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247620
2025-09-20T20:12:10.923Z,1758399130.923 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-09-20T20:12:10.923Z,1758399130.923 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-09-20T20:12:10.925Z,1758399130.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:10.944Z,1758399130.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 35.121368 m,
bearing: 238.395598 deg,
approach rate: -0.656540 m/s,
LOS rate: -0.128239 deg/s,
cmd heading: 233.852481 deg,
new cmd heading: 233.752980 deg.
2025-09-20T20:12:10.945Z,1758399130.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.079759 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:11.110Z,1758399131.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502349
2025-09-20T20:12:11.353Z,1758399131.353 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-09-20T20:12:11.353Z,1758399131.353 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T20:12:11.354Z,1758399131.354 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-09-20T20:12:11.354Z,1758399131.354 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T20:12:11.356Z,1758399131.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751757
2025-09-20T20:12:11.358Z,1758399131.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:11.361Z,1758399131.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 34.846016 m,
bearing: 238.342179 deg,
approach rate: -0.636908 m/s,
LOS rate: -0.124537 deg/s,
cmd heading: 233.752979 deg,
new cmd heading: 233.645298 deg.
2025-09-20T20:12:11.361Z,1758399131.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.077880 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:11.608Z,1758399131.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004001
2025-09-20T20:12:11.733Z,1758399131.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:11.736Z,1758399131.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 34.604233 m,
bearing: 238.295321 deg,
approach rate: -0.644545 m/s,
LOS rate: -0.125787 deg/s,
cmd heading: 233.645308 deg,
new cmd heading: 233.550937 deg.
2025-09-20T20:12:11.737Z,1758399131.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.076233 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:11.860Z,1758399131.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255802
2025-09-20T20:12:12.115Z,1758399132.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510339
2025-09-20T20:12:12.213Z,1758399132.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:12.219Z,1758399132.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:12.222Z,1758399132.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 34.301048 m,
bearing: 238.233061 deg,
approach rate: -0.628700 m/s,
LOS rate: -0.130246 deg/s,
cmd heading: 233.550942 deg,
new cmd heading: 233.425323 deg.
2025-09-20T20:12:12.227Z,1758399132.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.074040 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:12.364Z,1758399132.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759683
2025-09-20T20:12:12.590Z,1758399132.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:12.593Z,1758399132.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 34.063251 m,
bearing: 238.184358 deg,
approach rate: -0.634219 m/s,
LOS rate: -0.130801 deg/s,
cmd heading: 233.425321 deg,
new cmd heading: 233.327235 deg.
2025-09-20T20:12:12.594Z,1758399132.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.072329 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:12.616Z,1758399132.616 [DAT](INFO): DAT read: Rx Time:20:12:14.7543
2025-09-20T20:12:12.617Z,1758399132.617 [DAT](INFO): Rx dataTimestamp_ set to:1758399132.616524
2025-09-20T20:12:12.617Z,1758399132.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013068
2025-09-20T20:12:12.868Z,1758399132.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263737
2025-09-20T20:12:12.964Z,1758399132.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.04 m.
2025-09-20T20:12:12.967Z,1758399132.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.039101 m,
nav range: 33.802063 m,
bearing: 238.131002 deg,
approach rate: -0.698305 m/s,
LOS rate: -0.143754 deg/s,
cmd heading: 233.327240 deg,
new cmd heading: 233.219703 deg.
2025-09-20T20:12:12.968Z,1758399132.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.070452 target range: 38.039101 and range: 38.20 m.
2025-09-20T20:12:13.159Z,1758399133.159 [DAT](INFO): DAT read: 20:12:14.7543 LVL= 24384, 29665, 24178, 32755, AGC= 60, IDX= 407,-0.31, 2.264, 0.535, 2.468, 2.066, PHS= 0.299,-1.487, 0.358, RAW= 151.6, 9.2, CAL= 151.2, 9.9, ROT= 358.8, -9.9
2025-09-20T20:12:13.174Z,1758399133.174 [DAT](INFO): got valid direction response:
20:12:14.7543 LVL= 24384, 29665, 24178, 32755, AGC= 60, IDX= 407,-0.31, 2.264, 0.535, 2.468, 2.066, PHS= 0.299,-1.487, 0.358, RAW= 151.6, 9.2, CAL= 151.2, 9.9, ROT= 358.8, -9.9
2025-09-20T20:12:13.180Z,1758399133.180 [DAT](INFO): DAT read: Bearing 38.1, 5.9 (Local)
2025-09-20T20:12:13.180Z,1758399133.180 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.1, 5.9 (Local)
2025-09-20T20:12:13.182Z,1758399133.182 [DAT](INFO): DAT read: Range 11 to 50 : 35.9 m (Round-trip 47.9 ms) speed 0.6 m/s
2025-09-20T20:12:13.182Z,1758399133.182 [DAT](INFO): DAT read: user:171>
2025-09-20T20:12:13.187Z,1758399133.187 [DAT](INFO): DAT read: Tx time:20:12:15.8523
2025-09-20T20:12:13.188Z,1758399133.188 [DAT](INFO): Ping request sent.
2025-09-20T20:12:13.188Z,1758399133.188 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:12:13.188Z,1758399133.188 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:12:13.189Z,1758399133.189 [DAT](INFO): direction in FSK: [0.984893,-0.020631,0.171929]
2025-09-20T20:12:13.189Z,1758399133.189 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:13.189Z,1758399133.189 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:13.202Z,1758399133.202 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:13.202Z,1758399133.202 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:13.400Z,1758399133.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.900002 m,
deltaT: 3.530557 s,
deltaX: -2.299999 m,
approachRate: -0.651455 m/s,
rangeRepo size: 4
2025-09-20T20:12:13.402Z,1758399133.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 35.749008 m,
bearing: 237.673478 deg,
lat: 36.779300 deg,
lon: -121.859589 deg,
deltaT: 3.530557 s,
deltaX: -2.290092 m,
approachRate: -0.648649 m/s,
posRepo size: 4
2025-09-20T20:12:13.402Z,1758399133.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:13.405Z,1758399133.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 33.671391 m,
bearing: 237.704099 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.143754 deg/s,
cmd heading: 233.219705 deg,
new cmd heading: 233.094678 deg.
2025-09-20T20:12:13.406Z,1758399133.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.068270 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:13.802Z,1758399133.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:13.817Z,1758399133.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 33.423035 m,
bearing: 237.648367 deg,
approach rate: -0.616220 m/s,
LOS rate: -0.139311 deg/s,
cmd heading: 233.094685 deg,
new cmd heading: 232.982392 deg.
2025-09-20T20:12:13.818Z,1758399133.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.066310 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:14.223Z,1758399134.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:14.225Z,1758399134.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:14.228Z,1758399134.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 33.127686 m,
bearing: 237.577592 deg,
approach rate: -0.697850 m/s,
LOS rate: -0.168716 deg/s,
cmd heading: 232.982397 deg,
new cmd heading: 232.839587 deg.
2025-09-20T20:12:14.229Z,1758399134.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.063818 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:14.380Z,1758399134.380 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:12:14.380Z,1758399134.380 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:12:14.380Z,1758399134.380 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:12:14.592Z,1758399134.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:14.594Z,1758399134.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 32.887287 m,
bearing: 237.519906 deg,
approach rate: -0.655437 m/s,
LOS rate: -0.158428 deg/s,
cmd heading: 232.839592 deg,
new cmd heading: 232.723376 deg.
2025-09-20T20:12:14.596Z,1758399134.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061789 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:14.632Z,1758399134.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.444310
2025-09-20T20:12:14.884Z,1758399134.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.696210
2025-09-20T20:12:15.012Z,1758399135.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:15.022Z,1758399135.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 32.625690 m,
bearing: 237.457201 deg,
approach rate: -0.649144 m/s,
LOS rate: -0.156850 deg/s,
cmd heading: 232.723369 deg,
new cmd heading: 232.596953 deg.
2025-09-20T20:12:15.023Z,1758399135.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.059583 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:15.136Z,1758399135.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.948618
2025-09-20T20:12:15.388Z,1758399135.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200558
2025-09-20T20:12:15.410Z,1758399135.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:15.413Z,1758399135.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 32.351929 m,
bearing: 237.384676 deg,
approach rate: -0.659878 m/s,
LOS rate: -0.176292 deg/s,
cmd heading: 232.596956 deg,
new cmd heading: 232.450680 deg.
2025-09-20T20:12:15.414Z,1758399135.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.057030 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:15.641Z,1758399135.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.452821
2025-09-20T20:12:15.828Z,1758399135.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:15.830Z,1758399135.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 32.091866 m,
bearing: 237.315961 deg,
approach rate: -0.622057 m/s,
LOS rate: -0.165695 deg/s,
cmd heading: 232.450681 deg,
new cmd heading: 232.312137 deg.
2025-09-20T20:12:15.836Z,1758399135.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.054612 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:15.892Z,1758399135.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.704276
2025-09-20T20:12:16.147Z,1758399136.147 [DAT](INFO): DAT read: Rx Time:20:12:18.3012
2025-09-20T20:12:16.149Z,1758399136.149 [DAT](INFO): Rx dataTimestamp_ set to:1758399136.147794
2025-09-20T20:12:16.150Z,1758399136.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.962321
2025-09-20T20:12:16.277Z,1758399136.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:16.279Z,1758399136.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:16.282Z,1758399136.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 31.779741 m,
bearing: 237.231944 deg,
approach rate: -0.691389 m/s,
LOS rate: -0.187934 deg/s,
cmd heading: 232.312137 deg,
new cmd heading: 232.142453 deg.
2025-09-20T20:12:16.284Z,1758399136.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.051650 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:16.397Z,1758399136.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.208743
2025-09-20T20:12:16.628Z,1758399136.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.75 m.
2025-09-20T20:12:16.631Z,1758399136.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 35.749008 m,
nav range: 31.548130 m,
bearing: 237.169663 deg,
approach rate: -0.663109 m/s,
LOS rate: -0.179624 deg/s,
cmd heading: 232.142448 deg,
new cmd heading: 232.016970 deg.
2025-09-20T20:12:16.632Z,1758399136.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.049460 target range: 35.749008 and range: 35.90 m.
2025-09-20T20:12:16.654Z,1758399136.654 [DAT](INFO): DAT read: 20:12:18.3012 LVL= 22192, 27201, 25970, 32755, AGC= 61, IDX= 407, 0.19, 1.552,-0.176, 1.692, 1.370, PHS= 0.284,-1.501, 0.279, RAW= 149.8, 10.5, CAL= 149.6, 11.5, ROT= 0.4, -11.5
2025-09-20T20:12:16.655Z,1758399136.655 [DAT](INFO): got valid direction response:
20:12:18.3012 LVL= 22192, 27201, 25970, 32755, AGC= 61, IDX= 407, 0.19, 1.552,-0.176, 1.692, 1.370, PHS= 0.284,-1.501, 0.279, RAW= 149.8, 10.5, CAL= 149.6, 11.5, ROT= 0.4, -11.5
2025-09-20T20:12:16.656Z,1758399136.656 [DAT](INFO): DAT read: Bearing 38.7, 4.4 (Local)
2025-09-20T20:12:16.656Z,1758399136.656 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.7, 4.4 (Local)
2025-09-20T20:12:16.658Z,1758399136.658 [DAT](INFO): DAT read: Range 11 to 50 : 33.6 m (Round-trip 44.8 ms) speed 0.5 m/s
2025-09-20T20:12:16.658Z,1758399136.658 [DAT](INFO): DAT read: user:172>
2025-09-20T20:12:16.659Z,1758399136.659 [DAT](INFO): DAT read: Tx time:20:12:19.4023
2025-09-20T20:12:16.659Z,1758399136.659 [DAT](INFO): Ping request sent.
2025-09-20T20:12:16.659Z,1758399136.659 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:12:16.660Z,1758399136.660 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:12:16.661Z,1758399136.661 [DAT](INFO): direction in FSK: [0.979901,0.006841,0.199368]
2025-09-20T20:12:16.661Z,1758399136.661 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:16.661Z,1758399136.661 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:16.668Z,1758399136.668 [DAT](INFO): publishing transmit ping time
2025-09-20T20:12:16.669Z,1758399136.669 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:16.680Z,1758399136.680 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.020645
2025-09-20T20:12:16.900Z,1758399136.900 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.240456
2025-09-20T20:12:17.045Z,1758399137.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.599998 m,
deltaT: 3.525426 s,
deltaX: -2.300003 m,
approachRate: -0.652404 m/s,
rangeRepo size: 4
2025-09-20T20:12:17.047Z,1758399137.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.458828 m,
bearing: 238.194970 deg,
lat: 36.779299 deg,
lon: -121.859590 deg,
deltaT: 3.525426 s,
deltaX: -2.290180 m,
approachRate: -0.649618 m/s,
posRepo size: 4
2025-09-20T20:12:17.048Z,1758399137.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m.
2025-09-20T20:12:17.051Z,1758399137.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.458828 m,
nav range: 31.344795 m,
bearing: 237.092908 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.179624 deg/s,
cmd heading: 232.016964 deg,
new cmd heading: 231.867584 deg.
2025-09-20T20:12:17.052Z,1758399137.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.046853 target range: 33.458828 and range: 33.60 m.
2025-09-20T20:12:17.152Z,1758399137.152 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.492731
2025-09-20T20:12:17.404Z,1758399137.404 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.744493
2025-09-20T20:12:17.472Z,1758399137.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m.
2025-09-20T20:12:17.474Z,1758399137.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.458828 m,
nav range: 31.065126 m,
bearing: 237.009963 deg,
approach rate: -0.654470 m/s,
LOS rate: -0.195853 deg/s,
cmd heading: 231.867574 deg,
new cmd heading: 231.700190 deg.
2025-09-20T20:12:17.476Z,1758399137.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.043931 target range: 33.458828 and range: 33.60 m.
2025-09-20T20:12:17.656Z,1758399137.656 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.996651
2025-09-20T20:12:17.844Z,1758399137.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m.
2025-09-20T20:12:17.846Z,1758399137.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.458828 m,
nav range: 30.823933 m,
bearing: 236.938369 deg,
approach rate: -0.649516 m/s,
LOS rate: -0.194306 deg/s,
cmd heading: 231.700179 deg,
new cmd heading: 231.555871 deg.
2025-09-20T20:12:17.848Z,1758399137.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.041412 target range: 33.458828 and range: 33.60 m.
2025-09-20T20:12:17.909Z,1758399137.909 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.249443
2025-09-20T20:12:18.160Z,1758399138.160 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500485
2025-09-20T20:12:18.310Z,1758399138.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:18.313Z,1758399138.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m.
2025-09-20T20:12:18.316Z,1758399138.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.458828 m,
nav range: 30.520468 m,
bearing: 236.856152 deg,
approach rate: -0.646114 m/s,
LOS rate: -0.176791 deg/s,
cmd heading: 231.555871 deg,
new cmd heading: 231.389802 deg.
2025-09-20T20:12:18.317Z,1758399138.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.038514 target range: 33.458828 and range: 33.60 m.
2025-09-20T20:12:18.412Z,1758399138.412 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.752565
2025-09-20T20:12:18.647Z,1758399138.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m.
2025-09-20T20:12:18.650Z,1758399138.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.458828 m,
nav range: 30.302952 m,
bearing: 236.798170 deg,
approach rate: -0.650955 m/s,
LOS rate: -0.174765 deg/s,
cmd heading: 231.389816 deg,
new cmd heading: 231.273021 deg.
2025-09-20T20:12:18.651Z,1758399138.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036476 target range: 33.458828 and range: 33.60 m.
2025-09-20T20:12:18.664Z,1758399138.664 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.004579
2025-09-20T20:12:18.920Z,1758399138.920 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.260050
2025-09-20T20:12:19.063Z,1758399139.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.46 m.
2025-09-20T20:12:19.066Z,1758399139.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.458828 m,
nav range: 30.043062 m,
bearing: 236.728931 deg,
approach rate: -0.624804 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 231.273019 deg,
new cmd heading: 231.133344 deg.
2025-09-20T20:12:19.067Z,1758399139.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.034038 target range: 33.458828 and range: 33.60 m.
2025-09-20T20:12:19.169Z,1758399139.169 [DAT](INFO): DAT read: Rx Time:20:12:21.5735
2025-09-20T20:12:19.170Z,1758399139.170 [DAT](INFO): Rx dataTimestamp_ set to:1758399139.169658
2025-09-20T20:12:19.172Z,1758399139.172 [DAT](INFO): DAT read: Bearing 39.6, 3.1 (Local)
2025-09-20T20:12:19.172Z,1758399139.172 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.6, 3.1 (Local)
2025-09-20T20:12:19.174Z,1758399139.174 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5
2025-09-20T20:12:19.179Z,1758399139.179 [DAT](INFO): DAT read: 20:12:21.5735 LVL= 19632, 20177, 19570, 29427, AGC= 62, IDX= 155,-0.12,-0.799,-2.481,-0.703,-0.946, PHS= 0.249,-1.490, 0.199, RAW= 148.5, 12.1, CAL= 148.4, 13.3, ROT= 1.6, -13.3
2025-09-20T20:12:19.180Z,1758399139.180 [DAT](INFO): got valid direction response:
20:12:21.5735 LVL= 19632, 20177, 19570, 29427, AGC= 62, IDX= 155,-0.12,-0.799,-2.481,-0.703,-0.946, PHS= 0.249,-1.490, 0.199, RAW= 148.5, 12.1, CAL= 148.4, 13.3, ROT= 1.6, -13.3
2025-09-20T20:12:19.180Z,1758399139.180 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T20:12:19.181Z,1758399139.181 [DAT](INFO): direction in FSK: [0.972799,0.027173,0.230050]
2025-09-20T20:12:19.181Z,1758399139.181 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:19.189Z,1758399139.189 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.529959
2025-09-20T20:12:19.420Z,1758399139.420 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760438
2025-09-20T20:12:19.533Z,1758399139.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.500000 m,
deltaT: 2.522163 s,
deltaX: -2.099998 m,
approachRate: -0.832618 m/s,
rangeRepo size: 4
2025-09-20T20:12:19.540Z,1758399139.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.367666 m,
bearing: 238.676047 deg,
lat: 36.779299 deg,
lon: -121.859595 deg,
deltaT: 2.522163 s,
deltaX: -2.091162 m,
approachRate: -0.829114 m/s,
posRepo size: 4
2025-09-20T20:12:19.540Z,1758399139.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.37 m.
2025-09-20T20:12:19.551Z,1758399139.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.367666 m,
nav range: 30.116415 m,
bearing: 237.119043 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 231.133356 deg,
new cmd heading: 230.975549 deg.
2025-09-20T20:12:19.552Z,1758399139.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.031284 target range: 31.367666 and range: 31.50 m.
2025-09-20T20:12:19.674Z,1758399139.674 [DAT](INFO): DAT read: Rx Time:20:12:22.0734
2025-09-20T20:12:19.674Z,1758399139.674 [DAT](INFO): Rx dataTimestamp_ set to:1758399139.673918
2025-09-20T20:12:19.676Z,1758399139.676 [DAT](INFO): DAT read: Bearing 39.4, 2.5 (Local)
2025-09-20T20:12:19.677Z,1758399139.677 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.4, 2.5 (Local)
2025-09-20T20:12:19.680Z,1758399139.680 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5
2025-09-20T20:12:19.684Z,1758399139.684 [DAT](INFO): DAT read: 20:12:22.0734 LVL= 18544, 28609, 21074, 27747, AGC= 59, IDX= 506,-0.13, 1.220,-0.479, 1.324, 1.073, PHS= 0.248,-1.508, 0.207, RAW= 148.8, 12.1, CAL= 148.7, 13.3, ROT= 1.3, -13.3
2025-09-20T20:12:19.685Z,1758399139.685 [DAT](INFO): got valid direction response:
20:12:22.0734 LVL= 18544, 28609, 21074, 27747, AGC= 59, IDX= 506,-0.13, 1.220,-0.479, 1.324, 1.073, PHS= 0.248,-1.508, 0.207, RAW= 148.8, 12.1, CAL= 148.7, 13.3, ROT= 1.3, -13.3
2025-09-20T20:12:19.685Z,1758399139.685 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-20T20:12:19.686Z,1758399139.686 [DAT](INFO): direction in FSK: [0.972928,0.022079,0.230050]
2025-09-20T20:12:19.687Z,1758399139.687 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:19.711Z,1758399139.711 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.047307
2025-09-20T20:12:19.914Z,1758399139.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.400000 m,
deltaT: 0.504260 s,
deltaX: -0.100000 m,
approachRate: -0.198311 m/s,
rangeRepo size: 4
2025-09-20T20:12:19.917Z,1758399139.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.268091 m,
bearing: 238.278202 deg,
lat: 36.779299 deg,
lon: -121.859601 deg,
deltaT: 0.504260 s,
deltaX: -0.099575 m,
approachRate: -0.197468 m/s,
posRepo size: 4
2025-09-20T20:12:19.917Z,1758399139.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.27 m.
2025-09-20T20:12:19.920Z,1758399139.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.268091 m,
nav range: 30.334059 m,
bearing: 237.646731 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.975551 deg,
new cmd heading: 230.847556 deg.
2025-09-20T20:12:19.921Z,1758399139.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.029050 target range: 31.268091 and range: 31.40 m.
2025-09-20T20:12:19.924Z,1758399139.924 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264575
2025-09-20T20:12:20.177Z,1758399140.177 [DAT](INFO): DAT read: Rx Time:20:12:22.5731
2025-09-20T20:12:20.177Z,1758399140.177 [DAT](INFO): Rx dataTimestamp_ set to:1758399140.177154
2025-09-20T20:12:20.180Z,1758399140.180 [DAT](INFO): DAT read: Bearing 39.8, 2.2 (Local)
2025-09-20T20:12:20.180Z,1758399140.180 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.8, 2.2 (Local)
2025-09-20T20:12:20.182Z,1758399140.182 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.5
2025-09-20T20:12:20.191Z,1758399140.191 [DAT](INFO): DAT read: 20:12:22.5731 LVL= 18672, 28145, 20962, 29091, AGC= 59, IDX= 503,-0.13,-0.104,-1.792, 0.000,-0.235, PHS= 0.233,-1.512, 0.191, RAW= 148.8, 12.6, CAL= 148.7, 13.9, ROT= 1.3, -13.9
2025-09-20T20:12:20.192Z,1758399140.192 [DAT](INFO): got valid direction response:
20:12:22.5731 LVL= 18672, 28145, 20962, 29091, AGC= 59, IDX= 503,-0.13,-0.104,-1.792, 0.000,-0.235, PHS= 0.233,-1.512, 0.191, RAW= 148.8, 12.6, CAL= 148.7, 13.9, ROT= 1.3, -13.9
2025-09-20T20:12:20.192Z,1758399140.192 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-09-20T20:12:20.193Z,1758399140.193 [DAT](INFO): direction in FSK: [0.970467,0.022023,0.240228]
2025-09-20T20:12:20.193Z,1758399140.193 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:20.197Z,1758399140.197 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.537575
2025-09-20T20:12:20.399Z,1758399140.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.100000 m,
deltaT: 0.503236 s,
deltaX: -0.299999 m,
approachRate: -0.596140 m/s,
rangeRepo size: 4
2025-09-20T20:12:20.401Z,1758399140.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.969351 m,
bearing: 238.094055 deg,
lat: 36.779302 deg,
lon: -121.859602 deg,
deltaT: 0.503236 s,
deltaX: -0.298740 m,
approachRate: -0.593639 m/s,
posRepo size: 4
2025-09-20T20:12:20.402Z,1758399140.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.97 m.
2025-09-20T20:12:20.409Z,1758399140.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.969351 m,
nav range: 29.914225 m,
bearing: 238.094165 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.847553 deg,
new cmd heading: 230.686273 deg.
2025-09-20T20:12:20.410Z,1758399140.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.026235 target range: 30.969351 and range: 31.10 m.
2025-09-20T20:12:20.428Z,1758399140.428 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.768535
2025-09-20T20:12:20.681Z,1758399140.681 [DAT](INFO): DAT read: Rx Time:20:12:23.0730
2025-09-20T20:12:20.682Z,1758399140.682 [DAT](INFO): Rx dataTimestamp_ set to:1758399140.681450
2025-09-20T20:12:20.683Z,1758399140.683 [DAT](INFO): DAT read: Bearing 39.7, 2.0 (Local)
2025-09-20T20:12:20.683Z,1758399140.683 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.7, 2.0 (Local)
2025-09-20T20:12:20.685Z,1758399140.685 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (trip time 20.6 ms) speed 0.6
2025-09-20T20:12:20.695Z,1758399140.695 [DAT](INFO): DAT read: 20:12:23.0730 LVL= 18960, 27409, 19394, 27827, AGC= 58, IDX= 502,-0.15, 0.834,-0.864, 0.935, 0.701, PHS= 0.235,-1.519, 0.191, RAW= 148.7, 12.6, CAL= 148.6, 13.9, ROT= 1.4, -13.9
2025-09-20T20:12:20.696Z,1758399140.696 [DAT](INFO): got valid direction response:
20:12:23.0730 LVL= 18960, 27409, 19394, 27827, AGC= 58, IDX= 502,-0.15, 0.834,-0.864, 0.935, 0.701, PHS= 0.235,-1.519, 0.191, RAW= 148.7, 12.6, CAL= 148.6, 13.9, ROT= 1.4, -13.9
2025-09-20T20:12:20.697Z,1758399140.697 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-09-20T20:12:20.698Z,1758399140.698 [DAT](INFO): direction in FSK: [0.970427,0.023717,0.240228]
2025-09-20T20:12:20.698Z,1758399140.698 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:20.726Z,1758399140.726 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.066182
2025-09-20T20:12:20.837Z,1758399140.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.900000 m,
deltaT: 0.504296 s,
deltaX: -0.200001 m,
approachRate: -0.396594 m/s,
rangeRepo size: 4
2025-09-20T20:12:20.843Z,1758399140.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.770176 m,
bearing: 238.104787 deg,
lat: 36.779302 deg,
lon: -121.859602 deg,
deltaT: 0.504296 s,
deltaX: -0.199175 m,
approachRate: -0.394956 m/s,
posRepo size: 4
2025-09-20T20:12:20.844Z,1758399140.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:12:20.851Z,1758399140.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.770176 m,
nav range: 29.681499 m,
bearing: 238.097266 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.686279 deg,
new cmd heading: 230.537703 deg.
2025-09-20T20:12:20.856Z,1758399140.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.023642 target range: 30.770176 and range: 30.90 m.
2025-09-20T20:12:20.932Z,1758399140.932 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.272583
2025-09-20T20:12:21.185Z,1758399141.185 [DAT](INFO): DAT read: Rx Time:20:12:23.5727
2025-09-20T20:12:21.185Z,1758399141.185 [DAT](INFO): Rx dataTimestamp_ set to:1758399141.184803
2025-09-20T20:12:21.186Z,1758399141.186 [DAT](INFO): DAT read: Bearing 39.9, 2.1 (Local)
2025-09-20T20:12:21.187Z,1758399141.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.9, 2.1 (Local)
2025-09-20T20:12:21.189Z,1758399141.189 [DAT](INFO): DAT read: Range 11 to 50 : 30.5 m (trip time 20.3 ms) speed 0.7
2025-09-20T20:12:21.193Z,1758399141.193 [DAT](INFO): DAT read: 20:12:23.5727 LVL= 19280, 27841, 20402, 32659, AGC= 58, IDX= 499,-0.18,-0.744,-2.448,-0.656,-0.876, PHS= 0.234,-1.527, 0.176, RAW= 148.3, 12.8, CAL= 148.2, 14.1, ROT= 1.8, -14.1
2025-09-20T20:12:21.195Z,1758399141.195 [DAT](INFO): got valid direction response:
20:12:23.5727 LVL= 19280, 27841, 20402, 32659, AGC= 58, IDX= 499,-0.18,-0.744,-2.448,-0.656,-0.876, PHS= 0.234,-1.527, 0.176, RAW= 148.3, 12.8, CAL= 148.2, 14.1, ROT= 1.8, -14.1
2025-09-20T20:12:21.195Z,1758399141.195 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-09-20T20:12:21.196Z,1758399141.196 [DAT](INFO): direction in FSK: [0.969393,0.030464,0.243615]
2025-09-20T20:12:21.196Z,1758399141.196 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:21.204Z,1758399141.204 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.544301
2025-09-20T20:12:21.314Z,1758399141.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.500000 m,
deltaT: 0.503353 s,
deltaX: -0.400000 m,
approachRate: -0.794670 m/s,
rangeRepo size: 4
2025-09-20T20:12:21.321Z,1758399141.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.371857 m,
bearing: 238.426408 deg,
lat: 36.779302 deg,
lon: -121.859602 deg,
deltaT: 0.503353 s,
deltaX: -0.398319 m,
approachRate: -0.791332 m/s,
posRepo size: 4
2025-09-20T20:12:21.321Z,1758399141.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.37 m.
2025-09-20T20:12:21.328Z,1758399141.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.371857 m,
nav range: 29.370974 m,
bearing: 238.156205 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.537708 deg,
new cmd heading: 230.377711 deg.
2025-09-20T20:12:21.329Z,1758399141.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.020850 target range: 30.371857 and range: 30.50 m.
2025-09-20T20:12:21.437Z,1758399141.437 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.777618
2025-09-20T20:12:21.689Z,1758399141.689 [DAT](INFO): DAT read: Rx Time:20:12:24.0725
2025-09-20T20:12:21.689Z,1758399141.689 [DAT](INFO): Rx dataTimestamp_ set to:1758399141.688891
2025-09-20T20:12:21.690Z,1758399141.690 [DAT](INFO): DAT read: Bearing 40.0, 1.7 (Local)
2025-09-20T20:12:21.691Z,1758399141.691 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.0, 1.7 (Local)
2025-09-20T20:12:21.693Z,1758399141.693 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.7
2025-09-20T20:12:21.698Z,1758399141.698 [DAT](INFO): DAT read: 20:12:24.0725 LVL= 24800, 32065, 21170, 32755, AGC= 59, IDX= 498,-0.21, 0.554,-1.145, 0.645, 0.431, PHS= 0.225,-1.532, 0.170, RAW= 148.4, 13.1, CAL= 148.3, 14.4, ROT= 1.7, -14.4
2025-09-20T20:12:21.699Z,1758399141.699 [DAT](INFO): got valid direction response:
20:12:24.0725 LVL= 24800, 32065, 21170, 32755, AGC= 59, IDX= 498,-0.21, 0.554,-1.145, 0.645, 0.431, PHS= 0.225,-1.532, 0.170, RAW= 148.4, 13.1, CAL= 148.3, 14.4, ROT= 1.7, -14.4
2025-09-20T20:12:21.699Z,1758399141.699 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-09-20T20:12:21.700Z,1758399141.700 [DAT](INFO): direction in FSK: [0.968157,0.028734,0.248690]
2025-09-20T20:12:21.700Z,1758399141.700 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:21.708Z,1758399141.708 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.048439
2025-09-20T20:12:21.815Z,1758399141.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.200001 m,
deltaT: 0.504088 s,
deltaX: -0.299999 m,
approachRate: -0.595133 m/s,
rangeRepo size: 4
2025-09-20T20:12:21.817Z,1758399141.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.073118 m,
bearing: 238.217995 deg,
lat: 36.779302 deg,
lon: -121.859603 deg,
deltaT: 0.504088 s,
deltaX: -0.298738 m,
approachRate: -0.592632 m/s,
posRepo size: 4
2025-09-20T20:12:21.818Z,1758399141.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m.
2025-09-20T20:12:21.825Z,1758399141.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.073118 m,
nav range: 29.074261 m,
bearing: 238.176038 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.377718 deg,
new cmd heading: 230.210669 deg.
2025-09-20T20:12:21.826Z,1758399141.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.017934 target range: 30.073118 and range: 30.20 m.
2025-09-20T20:12:21.940Z,1758399141.940 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.280551
2025-09-20T20:12:22.193Z,1758399142.193 [DAT](INFO): DAT read: Rx Time:20:12:24.5722
2025-09-20T20:12:22.193Z,1758399142.193 [DAT](INFO): Rx dataTimestamp_ set to:1758399142.192814
2025-09-20T20:12:22.194Z,1758399142.194 [DAT](INFO): DAT read: Bearing 40.1, 1.4 (Local)
2025-09-20T20:12:22.195Z,1758399142.195 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.1, 1.4 (Local)
2025-09-20T20:12:22.197Z,1758399142.197 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.6
2025-09-20T20:12:22.202Z,1758399142.202 [DAT](INFO): DAT read: 20:12:24.5722 LVL= 19712, 29329, 20386, 30451, AGC= 58, IDX= 511,-0.26,-0.682,-2.388,-0.589,-0.799, PHS= 0.220,-1.544, 0.166, RAW= 148.5, 13.3, CAL= 148.4, 14.6, ROT= 1.6, -14.6
2025-09-20T20:12:22.203Z,1758399142.203 [DAT](INFO): got valid direction response:
20:12:24.5722 LVL= 19712, 29329, 20386, 30451, AGC= 58, IDX= 511,-0.26,-0.682,-2.388,-0.589,-0.799, PHS= 0.220,-1.544, 0.166, RAW= 148.5, 13.3, CAL= 148.4, 14.6, ROT= 1.6, -14.6
2025-09-20T20:12:22.203Z,1758399142.203 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-09-20T20:12:22.204Z,1758399142.204 [DAT](INFO): direction in FSK: [0.967332,0.027020,0.252069]
2025-09-20T20:12:22.204Z,1758399142.204 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:22.212Z,1758399142.212 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.552301
2025-09-20T20:12:22.319Z,1758399142.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.700001 m,
deltaT: 0.503923 s,
deltaX: -0.500000 m,
approachRate: -0.992215 m/s,
rangeRepo size: 4
2025-09-20T20:12:22.321Z,1758399142.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.575073 m,
bearing: 238.026151 deg,
lat: 36.779303 deg,
lon: -121.859603 deg,
deltaT: 0.503923 s,
deltaX: -0.498045 m,
approachRate: -0.988335 m/s,
posRepo size: 4
2025-09-20T20:12:22.322Z,1758399142.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.58 m.
2025-09-20T20:12:22.329Z,1758399142.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.575073 m,
nav range: 28.785297 m,
bearing: 238.166373 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.210679 deg,
new cmd heading: 230.042835 deg.
2025-09-20T20:12:22.330Z,1758399142.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.015005 target range: 29.575073 and range: 29.70 m.
2025-09-20T20:12:22.444Z,1758399142.444 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.784645
2025-09-20T20:12:22.698Z,1758399142.698 [DAT](INFO): DAT read: Rx Time:20:12:25.0720
2025-09-20T20:12:22.698Z,1758399142.698 [DAT](INFO): Rx dataTimestamp_ set to:1758399142.697852
2025-09-20T20:12:22.700Z,1758399142.700 [DAT](INFO): DAT read: Bearing 40.3, 1.4 (Local)
2025-09-20T20:12:22.700Z,1758399142.700 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.3, 1.4 (Local)
2025-09-20T20:12:22.702Z,1758399142.702 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.7
2025-09-20T20:12:22.707Z,1758399142.707 [DAT](INFO): DAT read: 20:12:25.0720 LVL= 18928, 25313, 18898, 30131, AGC= 58, IDX= 509,-0.35,-0.821,-2.529,-0.737,-0.931, PHS= 0.213,-1.553, 0.151, RAW= 148.2, 13.6, CAL= 148.2, 15.0, ROT= 1.8, -15.0
2025-09-20T20:12:22.708Z,1758399142.708 [DAT](INFO): got valid direction response:
20:12:25.0720 LVL= 18928, 25313, 18898, 30131, AGC= 58, IDX= 509,-0.35,-0.821,-2.529,-0.737,-0.931, PHS= 0.213,-1.553, 0.151, RAW= 148.2, 13.6, CAL= 148.2, 15.0, ROT= 1.8, -15.0
2025-09-20T20:12:22.708Z,1758399142.708 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-09-20T20:12:22.709Z,1758399142.709 [DAT](INFO): direction in FSK: [0.965449,0.030340,0.258819]
2025-09-20T20:12:22.709Z,1758399142.709 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:22.713Z,1758399142.713 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.053253
2025-09-20T20:12:22.818Z,1758399142.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.400000 m,
deltaT: 0.505038 s,
deltaX: -0.300001 m,
approachRate: -0.594017 m/s,
rangeRepo size: 4
2025-09-20T20:12:22.828Z,1758399142.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.276335 m,
bearing: 238.179340 deg,
lat: 36.779303 deg,
lon: -121.859603 deg,
deltaT: 0.505038 s,
deltaX: -0.298738 m,
approachRate: -0.591517 m/s,
posRepo size: 4
2025-09-20T20:12:22.829Z,1758399142.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.28 m.
2025-09-20T20:12:22.836Z,1758399142.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.276335 m,
nav range: 28.397953 m,
bearing: 238.197498 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 230.042848 deg,
new cmd heading: 229.872658 deg.
2025-09-20T20:12:22.837Z,1758399142.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.012035 target range: 29.276335 and range: 29.40 m.
2025-09-20T20:12:22.948Z,1758399142.948 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.288506
2025-09-20T20:12:23.201Z,1758399143.201 [DAT](INFO): DAT read: Rx Time:20:12:25.5717
2025-09-20T20:12:23.201Z,1758399143.201 [DAT](INFO): Rx dataTimestamp_ set to:1758399143.200895
2025-09-20T20:12:23.202Z,1758399143.202 [DAT](INFO): DAT read: Bearing 40.1, 0.8 (Local)
2025-09-20T20:12:23.203Z,1758399143.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.1, 0.8 (Local)
2025-09-20T20:12:23.205Z,1758399143.205 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.7
2025-09-20T20:12:23.210Z,1758399143.210 [DAT](INFO): DAT read: 20:12:25.5717 LVL= 19088, 26929, 18706, 30099, AGC= 58, IDX= 506,-0.45,-1.306,-3.021,-1.210,-1.413, PHS= 0.210,-1.563, 0.159, RAW= 148.6, 13.6, CAL= 148.5, 15.0, ROT= 1.5, -15.0
2025-09-20T20:12:23.211Z,1758399143.211 [DAT](INFO): got valid direction response:
20:12:25.5717 LVL= 19088, 26929, 18706, 30099, AGC= 58, IDX= 506,-0.45,-1.306,-3.021,-1.210,-1.413, PHS= 0.210,-1.563, 0.159, RAW= 148.6, 13.6, CAL= 148.5, 15.0, ROT= 1.5, -15.0
2025-09-20T20:12:23.211Z,1758399143.211 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-09-20T20:12:23.212Z,1758399143.212 [DAT](INFO): direction in FSK: [0.965595,0.025285,0.258819]
2025-09-20T20:12:23.212Z,1758399143.212 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:23.216Z,1758399143.216 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.556930
2025-09-20T20:12:23.241Z,1758399143.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.000000 m,
deltaT: 0.503043 s,
deltaX: -0.400000 m,
approachRate: -0.795160 m/s,
rangeRepo size: 4
2025-09-20T20:12:23.243Z,1758399143.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.878025 m,
bearing: 237.665439 deg,
lat: 36.779303 deg,
lon: -121.859602 deg,
deltaT: 0.503043 s,
deltaX: -0.398310 m,
approachRate: -0.791800 m/s,
posRepo size: 4
2025-09-20T20:12:23.261Z,1758399143.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.88 m.
2025-09-20T20:12:23.304Z,1758399143.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.878025 m,
nav range: 28.046833 m,
bearing: 238.064420 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 229.872667 deg,
new cmd heading: 229.730662 deg.
2025-09-20T20:12:23.322Z,1758399143.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.009556 target range: 28.878025 and range: 29.00 m.
2025-09-20T20:12:23.452Z,1758399143.452 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.792651
2025-09-20T20:12:23.705Z,1758399143.705 [DAT](INFO): DAT read: Rx Time:20:12:26.0716
2025-09-20T20:12:23.705Z,1758399143.705 [DAT](INFO): Rx dataTimestamp_ set to:1758399143.704792
2025-09-20T20:12:23.706Z,1758399143.706 [DAT](INFO): DAT read: Bearing 39.8, 0.1 (Local)
2025-09-20T20:12:23.707Z,1758399143.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.8, 0.1 (Local)
2025-09-20T20:12:23.709Z,1758399143.709 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.7
2025-09-20T20:12:23.713Z,1758399143.713 [DAT](INFO): DAT read: 20:12:26.0716 LVL= 19440, 27953, 19154, 29267, AGC= 58, IDX= 504, 0.43, 1.370,-0.374, 1.480, 1.259, PHS= 0.213,-1.588, 0.177, RAW= 149.0, 13.4, CAL= 149.0, 14.8, ROT= 1.0, -14.8
2025-09-20T20:12:23.714Z,1758399143.714 [DAT](INFO): got valid direction response:
20:12:26.0716 LVL= 19440, 27953, 19154, 29267, AGC= 58, IDX= 504, 0.43, 1.370,-0.374, 1.480, 1.259, PHS= 0.213,-1.588, 0.177, RAW= 149.0, 13.4, CAL= 149.0, 14.8, ROT= 1.0, -14.8
2025-09-20T20:12:23.715Z,1758399143.715 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-09-20T20:12:23.716Z,1758399143.716 [DAT](INFO): direction in FSK: [0.966676,0.016873,0.255446]
2025-09-20T20:12:23.716Z,1758399143.716 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:23.724Z,1758399143.724 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.064238
2025-09-20T20:12:23.802Z,1758399143.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.503897 s,
deltaX: -0.200001 m,
approachRate: -0.396908 m/s,
rangeRepo size: 4
2025-09-20T20:12:23.817Z,1758399143.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.678865 m,
bearing: 237.019913 deg,
lat: 36.779303 deg,
lon: -121.859601 deg,
deltaT: 0.503897 s,
deltaX: -0.199160 m,
approachRate: -0.395239 m/s,
posRepo size: 4
2025-09-20T20:12:23.818Z,1758399143.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m.
2025-09-20T20:12:23.825Z,1758399143.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.678865 m,
nav range: 27.628311 m,
bearing: 237.852489 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 229.730653 deg,
new cmd heading: 229.542271 deg.
2025-09-20T20:12:23.826Z,1758399143.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.006269 target range: 28.678865 and range: 28.80 m.
2025-09-20T20:12:23.956Z,1758399143.956 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.296758
2025-09-20T20:12:24.209Z,1758399144.209 [DAT](INFO): DAT read: Rx Time:20:12:26.5713
2025-09-20T20:12:24.209Z,1758399144.209 [DAT](INFO): Rx dataTimestamp_ set to:1758399144.208858
2025-09-20T20:12:24.210Z,1758399144.210 [DAT](INFO): DAT read: Bearing 40.1, -0.4 (Local)
2025-09-20T20:12:24.211Z,1758399144.211 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.1, -0.4 (Local)
2025-09-20T20:12:24.213Z,1758399144.213 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.7
2025-09-20T20:12:24.218Z,1758399144.218 [DAT](INFO): DAT read: 20:12:26.5713 LVL= 22768, 26913, 21154, 32755, AGC= 59, IDX= 501, 0.34, 0.388,-1.346, 0.505, 0.294, PHS= 0.196,-1.595, 0.167, RAW= 149.2, 13.8, CAL= 149.2, 15.3, ROT= 0.8, -15.3
2025-09-20T20:12:24.219Z,1758399144.219 [DAT](INFO): got valid direction response:
20:12:26.5713 LVL= 22768, 26913, 21154, 32755, AGC= 59, IDX= 501, 0.34, 0.388,-1.346, 0.505, 0.294, PHS= 0.196,-1.595, 0.167, RAW= 149.2, 13.8, CAL= 149.2, 15.3, ROT= 0.8, -15.3
2025-09-20T20:12:24.219Z,1758399144.219 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-09-20T20:12:24.220Z,1758399144.220 [DAT](INFO): direction in FSK: [0.964463,0.013467,0.263873]
2025-09-20T20:12:24.220Z,1758399144.220 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:24.228Z,1758399144.228 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.568433
2025-09-20T20:12:24.237Z,1758399144.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 0.504066 s,
deltaX: -0.400000 m,
approachRate: -0.793546 m/s,
rangeRepo size: 4
2025-09-20T20:12:24.273Z,1758399144.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.280561 m,
bearing: 236.841143 deg,
lat: 36.779302 deg,
lon: -121.859600 deg,
deltaT: 0.504066 s,
deltaX: -0.398304 m,
approachRate: -0.790182 m/s,
posRepo size: 4
2025-09-20T20:12:24.280Z,1758399144.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m.
2025-09-20T20:12:24.340Z,1758399144.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.280561 m,
nav range: 27.315620 m,
bearing: 237.608878 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 229.542277 deg,
new cmd heading: 229.396018 deg.
2025-09-20T20:12:24.341Z,1758399144.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.003716 target range: 28.280561 and range: 28.40 m.
2025-09-20T20:12:24.460Z,1758399144.460 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.800624
2025-09-20T20:12:24.713Z,1758399144.713 [DAT](INFO): DAT read: Rx Time:20:12:27.0712
2025-09-20T20:12:24.713Z,1758399144.713 [DAT](INFO): Rx dataTimestamp_ set to:1758399144.712964
2025-09-20T20:12:24.715Z,1758399144.715 [DAT](INFO): DAT read: Bearing 40.1, -0.7 (Local)
2025-09-20T20:12:24.715Z,1758399144.715 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.1, -0.7 (Local)
2025-09-20T20:12:24.717Z,1758399144.717 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.6
2025-09-20T20:12:24.722Z,1758399144.722 [DAT](INFO): DAT read: 20:12:27.0712 LVL= 21152, 26033, 21234, 29875, AGC= 58, IDX= 500, 0.30, 2.037, 0.281, 2.154, 1.944, PHS= 0.194,-1.619, 0.165, RAW= 149.2, 13.9, CAL= 149.2, 15.4, ROT= 0.8, -15.4
2025-09-20T20:12:24.744Z,1758399144.744 [DAT](INFO): got valid direction response:
20:12:27.0712 LVL= 21152, 26033, 21234, 29875, AGC= 58, IDX= 500, 0.30, 2.037, 0.281, 2.154, 1.944, PHS= 0.194,-1.619, 0.165, RAW= 149.2, 13.9, CAL= 149.2, 15.4, ROT= 0.8, -15.4
2025-09-20T20:12:24.744Z,1758399144.744 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-09-20T20:12:24.745Z,1758399144.745 [DAT](INFO): direction in FSK: [0.964001,0.013461,0.265556]
2025-09-20T20:12:24.746Z,1758399144.746 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:24.776Z,1758399144.776 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.116542
2025-09-20T20:12:24.885Z,1758399144.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 0.504106 s,
deltaX: -0.199999 m,
approachRate: -0.396740 m/s,
rangeRepo size: 4
2025-09-20T20:12:24.887Z,1758399144.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.081333 m,
bearing: 236.845266 deg,
lat: 36.779299 deg,
lon: -121.859600 deg,
deltaT: 0.504106 s,
deltaX: -0.199228 m,
approachRate: -0.395211 m/s,
posRepo size: 4
2025-09-20T20:12:24.891Z,1758399144.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m.
2025-09-20T20:12:24.894Z,1758399144.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.081333 m,
nav range: 27.082611 m,
bearing: 236.961302 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 229.396029 deg,
new cmd heading: 229.180300 deg.
2025-09-20T20:12:24.899Z,1758399144.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.999951 target range: 28.081333 and range: 28.20 m.
2025-09-20T20:12:24.965Z,1758399144.965 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.305245
2025-09-20T20:12:25.216Z,1758399145.216 [DAT](INFO): DAT read: Rx Time:20:12:27.5709
2025-09-20T20:12:25.217Z,1758399145.217 [DAT](INFO): Rx dataTimestamp_ set to:1758399145.216682
2025-09-20T20:12:25.218Z,1758399145.218 [DAT](INFO): DAT read: Bearing 40.2, -1.0 (Local)
2025-09-20T20:12:25.219Z,1758399145.219 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.2, -1.0 (Local)
2025-09-20T20:12:25.221Z,1758399145.221 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.5
2025-09-20T20:12:25.225Z,1758399145.225 [DAT](INFO): DAT read: 20:12:27.5709 LVL= 22000, 25681, 20786, 30339, AGC= 58, IDX= 497, 0.33, 0.152,-1.583, 0.271, 0.068, PHS= 0.185,-1.607, 0.159, RAW= 149.3, 14.1, CAL= 149.3, 15.6, ROT= 0.7, -15.6
2025-09-20T20:12:25.226Z,1758399145.226 [DAT](INFO): got valid direction response:
20:12:27.5709 LVL= 22000, 25681, 20786, 30339, AGC= 58, IDX= 497, 0.33, 0.152,-1.583, 0.271, 0.068, PHS= 0.185,-1.607, 0.159, RAW= 149.3, 14.1, CAL= 149.3, 15.6, ROT= 0.7, -15.6
2025-09-20T20:12:25.227Z,1758399145.227 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-09-20T20:12:25.228Z,1758399145.228 [DAT](INFO): direction in FSK: [0.963091,0.011767,0.268920]
2025-09-20T20:12:25.228Z,1758399145.228 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:25.232Z,1758399145.232 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.572067
2025-09-20T20:12:25.424Z,1758399145.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.799999 m,
deltaT: 0.503718 s,
deltaX: -0.400002 m,
approachRate: -0.794098 m/s,
rangeRepo size: 4
2025-09-20T20:12:25.426Z,1758399145.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.683014 m,
bearing: 236.390695 deg,
lat: 36.779299 deg,
lon: -121.859600 deg,
deltaT: 0.503718 s,
deltaX: -0.398319 m,
approachRate: -0.790758 m/s,
posRepo size: 4
2025-09-20T20:12:25.426Z,1758399145.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m.
2025-09-20T20:12:25.433Z,1758399145.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.683014 m,
nav range: 26.794426 m,
bearing: 236.833730 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 229.180304 deg,
new cmd heading: 228.999123 deg.
2025-09-20T20:12:25.434Z,1758399145.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.996789 target range: 27.683014 and range: 27.80 m.
2025-09-20T20:12:25.470Z,1758399145.470 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.810079
2025-09-20T20:12:25.721Z,1758399145.721 [DAT](INFO): DAT read: Rx Time:20:12:28.0708
2025-09-20T20:12:25.722Z,1758399145.722 [DAT](INFO): Rx dataTimestamp_ set to:1758399145.721359
2025-09-20T20:12:25.723Z,1758399145.723 [DAT](INFO): DAT read: Bearing 39.8, -1.3 (Local)
2025-09-20T20:12:25.723Z,1758399145.723 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.8, -1.3 (Local)
2025-09-20T20:12:25.725Z,1758399145.725 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.5
2025-09-20T20:12:25.730Z,1758399145.730 [DAT](INFO): DAT read: 20:12:28.0708 LVL= 23936, 26465, 21234, 30531, AGC= 58, IDX= 511, 0.41,-0.067,-1.816, 0.058,-0.155, PHS= 0.190,-1.616, 0.168, RAW= 149.4, 13.9, CAL= 149.5, 15.4, ROT= 0.5, -15.4
2025-09-20T20:12:25.732Z,1758399145.732 [DAT](INFO): got valid direction response:
20:12:28.0708 LVL= 23936, 26465, 21234, 30531, AGC= 58, IDX= 511, 0.41,-0.067,-1.816, 0.058,-0.155, PHS= 0.190,-1.616, 0.168, RAW= 149.4, 13.9, CAL= 149.5, 15.4, ROT= 0.5, -15.4
2025-09-20T20:12:25.732Z,1758399145.732 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-09-20T20:12:25.733Z,1758399145.733 [DAT](INFO): direction in FSK: [0.964059,0.008413,0.265556]
2025-09-20T20:12:25.733Z,1758399145.733 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:25.737Z,1758399145.737 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.077346
2025-09-20T20:12:25.888Z,1758399145.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.504677 s,
deltaX: -0.299999 m,
approachRate: -0.594438 m/s,
rangeRepo size: 4
2025-09-20T20:12:25.890Z,1758399145.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.384125 m,
bearing: 236.037684 deg,
lat: 36.779298 deg,
lon: -121.859599 deg,
deltaT: 0.504677 s,
deltaX: -0.298889 m,
approachRate: -0.592239 m/s,
posRepo size: 4
2025-09-20T20:12:25.891Z,1758399145.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:12:25.894Z,1758399145.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.384125 m,
nav range: 26.400316 m,
bearing: 236.574864 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 228.999126 deg,
new cmd heading: 228.843228 deg.
2025-09-20T20:12:25.904Z,1758399145.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.994068 target range: 27.384125 and range: 27.50 m.
2025-09-20T20:12:25.974Z,1758399145.974 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.314347
2025-09-20T20:12:26.225Z,1758399146.225 [DAT](INFO): DAT read: Rx Time:20:12:28.5705
2025-09-20T20:12:26.225Z,1758399146.225 [DAT](INFO): Rx dataTimestamp_ set to:1758399146.224820
2025-09-20T20:12:26.226Z,1758399146.226 [DAT](INFO): DAT read: Bearing 40.1, -1.5 (Local)
2025-09-20T20:12:26.227Z,1758399146.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.1, -1.5 (Local)
2025-09-20T20:12:26.229Z,1758399146.229 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.5
2025-09-20T20:12:26.234Z,1758399146.234 [DAT](INFO): DAT read: 20:12:28.5705 LVL= 24016, 26737, 21554, 29939, AGC= 58, IDX= 509,-0.46,-2.709, 1.830,-2.585,-2.787, PHS= 0.179,-1.622, 0.158, RAW= 149.4, 14.2, CAL= 149.5, 15.8, ROT= 0.5, -15.8
2025-09-20T20:12:26.235Z,1758399146.235 [DAT](INFO): got valid direction response:
20:12:28.5705 LVL= 24016, 26737, 21554, 29939, AGC= 58, IDX= 509,-0.46,-2.709, 1.830,-2.585,-2.787, PHS= 0.179,-1.622, 0.158, RAW= 149.4, 14.2, CAL= 149.5, 15.8, ROT= 0.5, -15.8
2025-09-20T20:12:26.244Z,1758399146.244 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-20T20:12:26.245Z,1758399146.245 [DAT](INFO): direction in FSK: [0.962181,0.008397,0.272280]
2025-09-20T20:12:26.245Z,1758399146.245 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:26.248Z,1758399146.248 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.588935
2025-09-20T20:12:26.362Z,1758399146.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.000000 m,
deltaT: 0.503461 s,
deltaX: -0.500000 m,
approachRate: -0.993126 m/s,
rangeRepo size: 4
2025-09-20T20:12:26.374Z,1758399146.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.886232 m,
bearing: 235.946547 deg,
lat: 36.779297 deg,
lon: -121.859599 deg,
deltaT: 0.503461 s,
deltaX: -0.497892 m,
approachRate: -0.988939 m/s,
posRepo size: 4
2025-09-20T20:12:26.374Z,1758399146.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.89 m.
2025-09-20T20:12:26.381Z,1758399146.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.886232 m,
nav range: 26.204996 m,
bearing: 236.261100 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 228.843234 deg,
new cmd heading: 228.682498 deg.
2025-09-20T20:12:26.382Z,1758399146.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.991262 target range: 26.886232 and range: 27.00 m.
2025-09-20T20:12:26.478Z,1758399146.478 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.818158
2025-09-20T20:12:26.729Z,1758399146.729 [DAT](INFO): DAT read: Rx Time:20:12:29.0704
2025-09-20T20:12:26.729Z,1758399146.729 [DAT](INFO): Rx dataTimestamp_ set to:1758399146.728809
2025-09-20T20:12:26.730Z,1758399146.730 [DAT](INFO): DAT read: Bearing 40.1, -1.9 (Local)
2025-09-20T20:12:26.731Z,1758399146.731 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.1, -1.9 (Local)
2025-09-20T20:12:26.733Z,1758399146.733 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.6
2025-09-20T20:12:26.738Z,1758399146.738 [DAT](INFO): DAT read: 20:12:29.0704 LVL= 21312, 25729, 19602, 28339, AGC= 57, IDX= 508,-0.27,-2.659, 1.885,-2.530,-2.730, PHS= 0.173,-1.623, 0.156, RAW= 149.5, 14.3, CAL= 149.7, 15.9, ROT= 0.3, -15.9
2025-09-20T20:12:26.739Z,1758399146.739 [DAT](INFO): got valid direction response:
20:12:29.0704 LVL= 21312, 25729, 19602, 28339, AGC= 57, IDX= 508,-0.27,-2.659, 1.885,-2.530,-2.730, PHS= 0.173,-1.623, 0.156, RAW= 149.5, 14.3, CAL= 149.7, 15.9, ROT= 0.3, -15.9
2025-09-20T20:12:26.739Z,1758399146.739 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-20T20:12:26.740Z,1758399146.740 [DAT](INFO): direction in FSK: [0.961728,0.005036,0.273959]
2025-09-20T20:12:26.740Z,1758399146.740 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:26.748Z,1758399146.748 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.088520
2025-09-20T20:12:26.836Z,1758399146.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 0.503989 s,
deltaX: -0.100000 m,
approachRate: -0.198418 m/s,
rangeRepo size: 4
2025-09-20T20:12:26.838Z,1758399146.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.786654 m,
bearing: 235.752529 deg,
lat: 36.779297 deg,
lon: -121.859599 deg,
deltaT: 0.503989 s,
deltaX: -0.099579 m,
approachRate: -0.197581 m/s,
posRepo size: 4
2025-09-20T20:12:26.839Z,1758399146.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m.
2025-09-20T20:12:26.853Z,1758399146.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.786654 m,
nav range: 25.911724 m,
bearing: 236.107814 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 228.682493 deg,
new cmd heading: 228.530349 deg.
2025-09-20T20:12:26.854Z,1758399146.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.988607 target range: 26.786654 and range: 26.90 m.
2025-09-20T20:12:26.981Z,1758399146.981 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.321358
2025-09-20T20:12:27.232Z,1758399147.232 [DAT](INFO): DAT read: Rx Time:20:12:29.5701
2025-09-20T20:12:27.233Z,1758399147.233 [DAT](INFO): Rx dataTimestamp_ set to:1758399147.232611
2025-09-20T20:12:27.234Z,1758399147.234 [DAT](INFO): DAT read: Bearing 39.9, -2.3 (Local)
2025-09-20T20:12:27.234Z,1758399147.234 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.9, -2.3 (Local)
2025-09-20T20:12:27.237Z,1758399147.237 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5
2025-09-20T20:12:27.241Z,1758399147.241 [DAT](INFO): DAT read: 20:12:29.5701 LVL= 23216, 27537, 22498, 30387, AGC= 57, IDX= 505,-0.16, 2.169, 0.418, 2.308, 2.100, PHS= 0.170,-1.637, 0.164, RAW= 149.8, 14.3, CAL= 150.0, 15.9, ROT= 0.0, -15.9
2025-09-20T20:12:27.242Z,1758399147.242 [DAT](INFO): got valid direction response:
20:12:29.5701 LVL= 23216, 27537, 22498, 30387, AGC= 57, IDX= 505,-0.16, 2.169, 0.418, 2.308, 2.100, PHS= 0.170,-1.637, 0.164, RAW= 149.8, 14.3, CAL= 150.0, 15.9, ROT= 0.0, -15.9
2025-09-20T20:12:27.243Z,1758399147.243 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-20T20:12:27.244Z,1758399147.244 [DAT](INFO): direction in FSK: [0.961741,0.000000,0.273959]
2025-09-20T20:12:27.244Z,1758399147.244 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:27.248Z,1758399147.248 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.588343
2025-09-20T20:12:27.405Z,1758399147.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 0.503802 s,
deltaX: -0.500000 m,
approachRate: -0.992453 m/s,
rangeRepo size: 4
2025-09-20T20:12:27.423Z,1758399147.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.288834 m,
bearing: 235.075270 deg,
lat: 36.779296 deg,
lon: -121.859598 deg,
deltaT: 0.503802 s,
deltaX: -0.497820 m,
approachRate: -0.988126 m/s,
posRepo size: 4
2025-09-20T20:12:27.424Z,1758399147.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m.
2025-09-20T20:12:27.427Z,1758399147.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.288834 m,
nav range: 25.574406 m,
bearing: 235.694655 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 228.530343 deg,
new cmd heading: 228.332322 deg.
2025-09-20T20:12:27.432Z,1758399147.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.985151 target range: 26.288834 and range: 26.40 m.
2025-09-20T20:12:27.486Z,1758399147.486 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.826123
2025-09-20T20:12:27.737Z,1758399147.737 [DAT](INFO): DAT read: Rx Time:20:12:30.0701
2025-09-20T20:12:27.737Z,1758399147.737 [DAT](INFO): Rx dataTimestamp_ set to:1758399147.736855
2025-09-20T20:12:27.738Z,1758399147.738 [DAT](INFO): DAT read: Bearing 39.8, -2.9 (Local)
2025-09-20T20:12:27.739Z,1758399147.739 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.8, -2.9 (Local)
2025-09-20T20:12:27.741Z,1758399147.741 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.7
2025-09-20T20:12:27.746Z,1758399147.746 [DAT](INFO): DAT read: 20:12:30.0701 LVL= 25760, 27825, 22914, 31667, AGC= 57, IDX= 504,-0.05,-3.056, 1.474,-2.902,-3.117, PHS= 0.162,-1.648, 0.170, RAW= 150.2, 14.4, CAL= 150.4, 16.0, ROT= 359.6, -16.0
2025-09-20T20:12:27.747Z,1758399147.747 [DAT](INFO): got valid direction response:
20:12:30.0701 LVL= 25760, 27825, 22914, 31667, AGC= 57, IDX= 504,-0.05,-3.056, 1.474,-2.902,-3.117, PHS= 0.162,-1.648, 0.170, RAW= 150.2, 14.4, CAL= 150.4, 16.0, ROT= 359.6, -16.0
2025-09-20T20:12:27.747Z,1758399147.747 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-09-20T20:12:27.748Z,1758399147.748 [DAT](INFO): direction in FSK: [0.961238,-0.006711,0.275637]
2025-09-20T20:12:27.748Z,1758399147.748 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:27.758Z,1758399147.758 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.098040
2025-09-20T20:12:27.989Z,1758399147.989 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.329511
2025-09-20T20:12:27.994Z,1758399147.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 0.504244 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:28.001Z,1758399148.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.288691 m,
bearing: 234.541106 deg,
lat: 36.779295 deg,
lon: -121.859598 deg,
deltaT: 0.504244 s,
deltaX: -0.000143 m,
approachRate: -0.000284 m/s,
posRepo size: 4
2025-09-20T20:12:28.001Z,1758399148.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m.
2025-09-20T20:12:28.008Z,1758399148.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.288691 m,
nav range: 25.180124 m,
bearing: 235.542364 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 228.332322 deg,
new cmd heading: 228.134798 deg.
2025-09-20T20:12:28.009Z,1758399148.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.981703 target range: 26.288691 and range: 26.40 m.
2025-09-20T20:12:28.241Z,1758399148.241 [DAT](INFO): DAT read: Rx Time:20:12:30.5698
2025-09-20T20:12:28.241Z,1758399148.241 [DAT](INFO): Rx dataTimestamp_ set to:1758399148.240788
2025-09-20T20:12:28.242Z,1758399148.242 [DAT](INFO): DAT read: Bearing 39.7, -3.8 (Local)
2025-09-20T20:12:28.243Z,1758399148.243 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.7, -3.8 (Local)
2025-09-20T20:12:28.245Z,1758399148.245 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.5
2025-09-20T20:12:28.250Z,1758399148.250 [DAT](INFO): DAT read: 20:12:30.5698 LVL= 26752, 28641, 23858, 32755, AGC= 57, IDX= 501, 0.04,-2.843, 1.700,-2.665,-2.892, PHS= 0.151,-1.646, 0.183, RAW= 150.9, 14.4, CAL= 151.1, 16.0, ROT= 358.9, -16.0
2025-09-20T20:12:28.251Z,1758399148.251 [DAT](INFO): got valid direction response:
20:12:30.5698 LVL= 26752, 28641, 23858, 32755, AGC= 57, IDX= 501, 0.04,-2.843, 1.700,-2.665,-2.892, PHS= 0.151,-1.646, 0.183, RAW= 150.9, 14.4, CAL= 151.1, 16.0, ROT= 358.9, -16.0
2025-09-20T20:12:28.251Z,1758399148.251 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-09-20T20:12:28.252Z,1758399148.252 [DAT](INFO): direction in FSK: [0.961085,-0.018454,0.275637]
2025-09-20T20:12:28.252Z,1758399148.252 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:28.264Z,1758399148.264 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.604900
2025-09-20T20:12:28.493Z,1758399148.493 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.833611
2025-09-20T20:12:28.507Z,1758399148.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.000000 m,
deltaT: 0.503933 s,
deltaX: -0.400000 m,
approachRate: -0.793756 m/s,
rangeRepo size: 4
2025-09-20T20:12:28.513Z,1758399148.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.890379 m,
bearing: 233.587968 deg,
lat: 36.779294 deg,
lon: -121.859596 deg,
deltaT: 0.503933 s,
deltaX: -0.398312 m,
approachRate: -0.790406 m/s,
posRepo size: 4
2025-09-20T20:12:28.514Z,1758399148.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-09-20T20:12:28.521Z,1758399148.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.890379 m,
nav range: 24.826260 m,
bearing: 234.948977 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 228.134793 deg,
new cmd heading: 227.962419 deg.
2025-09-20T20:12:28.522Z,1758399148.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.978695 target range: 25.890379 and range: 26.00 m.
2025-09-20T20:12:28.745Z,1758399148.745 [DAT](INFO): DAT read: Rx Time:20:12:31.0697
2025-09-20T20:12:28.745Z,1758399148.745 [DAT](INFO): Rx dataTimestamp_ set to:1758399148.744867
2025-09-20T20:12:28.746Z,1758399148.746 [DAT](INFO): DAT read: Bearing 39.2, -4.5 (Local)
2025-09-20T20:12:28.747Z,1758399148.747 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.2, -4.5 (Local)
2025-09-20T20:12:28.749Z,1758399148.749 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.5
2025-09-20T20:12:28.759Z,1758399148.759 [DAT](INFO): DAT read: 20:12:31.0697 LVL= 25264, 29617, 22578, 31907, AGC= 57, IDX= 500, 0.12,-0.978,-2.720,-0.775,-1.025, PHS= 0.150,-1.650, 0.206, RAW= 151.5, 14.1, CAL= 151.7, 15.7, ROT= 358.3, -15.7
2025-09-20T20:12:28.760Z,1758399148.760 [DAT](INFO): got valid direction response:
20:12:31.0697 LVL= 25264, 29617, 22578, 31907, AGC= 57, IDX= 500, 0.12,-0.978,-2.720,-0.775,-1.025, PHS= 0.150,-1.650, 0.206, RAW= 151.5, 14.1, CAL= 151.7, 15.7, ROT= 358.3, -15.7
2025-09-20T20:12:28.761Z,1758399148.761 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-20T20:12:28.762Z,1758399148.762 [DAT](INFO): direction in FSK: [0.962268,-0.028560,0.270600]
2025-09-20T20:12:28.762Z,1758399148.762 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:28.792Z,1758399148.792 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.132393
2025-09-20T20:12:28.892Z,1758399148.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 0.504079 s,
deltaX: -0.200001 m,
approachRate: -0.396765 m/s,
rangeRepo size: 4
2025-09-20T20:12:28.894Z,1758399148.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.691187 m,
bearing: 232.876768 deg,
lat: 36.779290 deg,
lon: -121.859595 deg,
deltaT: 0.504079 s,
deltaX: -0.199192 m,
approachRate: -0.395160 m/s,
posRepo size: 4
2025-09-20T20:12:28.899Z,1758399148.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m.
2025-09-20T20:12:28.902Z,1758399148.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.691187 m,
nav range: 24.766119 m,
bearing: 234.055263 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 227.962413 deg,
new cmd heading: 227.835714 deg.
2025-09-20T20:12:28.907Z,1758399148.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.976483 target range: 25.691187 and range: 25.80 m.
2025-09-20T20:12:28.996Z,1758399148.996 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.336849
2025-09-20T20:12:29.249Z,1758399149.249 [DAT](INFO): DAT read: Rx Time:20:12:31.5694
2025-09-20T20:12:29.249Z,1758399149.249 [DAT](INFO): Rx dataTimestamp_ set to:1758399149.248907
2025-09-20T20:12:29.250Z,1758399149.250 [DAT](INFO): DAT read: Bearing 39.1, -5.1 (Local)
2025-09-20T20:12:29.251Z,1758399149.251 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.1, -5.1 (Local)
2025-09-20T20:12:29.253Z,1758399149.253 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.6
2025-09-20T20:12:29.258Z,1758399149.258 [DAT](INFO): DAT read: 20:12:31.5694 LVL= 24048, 30577, 22962, 32547, AGC= 57, IDX= 497, 0.21,-2.190, 2.355,-1.972,-2.231, PHS= 0.143,-1.652, 0.215, RAW= 151.9, 14.0, CAL= 152.2, 15.7, ROT= 357.8, -15.7
2025-09-20T20:12:29.259Z,1758399149.259 [DAT](INFO): got valid direction response:
20:12:31.5694 LVL= 24048, 30577, 22962, 32547, AGC= 57, IDX= 497, 0.21,-2.190, 2.355,-1.972,-2.231, PHS= 0.143,-1.652, 0.215, RAW= 151.9, 14.0, CAL= 152.2, 15.7, ROT= 357.8, -15.7
2025-09-20T20:12:29.260Z,1758399149.260 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-20T20:12:29.261Z,1758399149.261 [DAT](INFO): direction in FSK: [0.961982,-0.036956,0.270600]
2025-09-20T20:12:29.261Z,1758399149.261 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:29.265Z,1758399149.265 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.605153
2025-09-20T20:12:29.274Z,1758399149.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.400000 m,
deltaT: 0.504040 s,
deltaX: -0.400000 m,
approachRate: -0.793587 m/s,
rangeRepo size: 4
2025-09-20T20:12:29.284Z,1758399149.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.292875 m,
bearing: 232.282251 deg,
lat: 36.779288 deg,
lon: -121.859595 deg,
deltaT: 0.504040 s,
deltaX: -0.398312 m,
approachRate: -0.790238 m/s,
posRepo size: 4
2025-09-20T20:12:29.285Z,1758399149.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:12:29.292Z,1758399149.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.292875 m,
nav range: 24.655817 m,
bearing: 233.412228 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.167898 deg/s,
cmd heading: 227.835713 deg,
new cmd heading: 227.704802 deg.
2025-09-20T20:12:29.293Z,1758399149.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.974199 target range: 25.292875 and range: 25.40 m.
2025-09-20T20:12:29.504Z,1758399149.504 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.844525
2025-09-20T20:12:29.674Z,1758399149.674 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:29.680Z,1758399149.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:12:29.695Z,1758399149.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.292875 m,
nav range: 24.387712 m,
bearing: 233.315521 deg,
approach rate: -0.658675 m/s,
LOS rate: -0.240199 deg/s,
cmd heading: 227.704806 deg,
new cmd heading: 227.509267 deg.
2025-09-20T20:12:29.696Z,1758399149.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.970786 target range: 25.292875 and range: 25.40 m.
2025-09-20T20:12:29.753Z,1758399149.753 [DAT](INFO): DAT read: Rx Time:20:12:32.0693
2025-09-20T20:12:29.754Z,1758399149.754 [DAT](INFO): Rx dataTimestamp_ set to:1758399149.753636
2025-09-20T20:12:29.756Z,1758399149.756 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.7
2025-09-20T20:12:29.757Z,1758399149.757 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-09-20T20:12:29.758Z,1758399149.758 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.098574
2025-09-20T20:12:30.004Z,1758399150.004 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.344490
2025-09-20T20:12:30.063Z,1758399150.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.200001 m,
deltaT: 0.504729 s,
deltaX: -0.199999 m,
approachRate: -0.396250 m/s,
rangeRepo size: 4
2025-09-20T20:12:30.064Z,1758399150.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:12:30.066Z,1758399150.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.292875 m,
nav range: 24.138767 m,
bearing: 233.225025 deg,
approach rate: -0.651409 m/s,
LOS rate: -0.239240 deg/s,
cmd heading: 227.509271 deg,
new cmd heading: 227.326414 deg.
2025-09-20T20:12:30.068Z,1758399150.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.967594 target range: 25.292875 and range: 25.20 m.
2025-09-20T20:12:30.256Z,1758399150.256 [DAT](INFO): DAT read: Rx Time:20:12:32.5690
2025-09-20T20:12:30.257Z,1758399150.257 [DAT](INFO): Rx dataTimestamp_ set to:1758399150.256592
2025-09-20T20:12:30.258Z,1758399150.258 [DAT](INFO): DAT read: Bearing 38.7, -6.3 (Local)
2025-09-20T20:12:30.258Z,1758399150.258 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.7, -6.3 (Local)
2025-09-20T20:12:30.261Z,1758399150.261 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5
2025-09-20T20:12:30.265Z,1758399150.265 [DAT](INFO): DAT read: 20:12:32.5690 LVL= 24272, 27857, 20978, 30787, AGC= 58, IDX= 509, 0.35,-1.762, 2.800,-1.510,-1.790, PHS= 0.130,-1.648, 0.236, RAW= 152.9, 13.9, CAL= 153.2, 15.6, ROT= 356.8, -15.6
2025-09-20T20:12:30.266Z,1758399150.266 [DAT](INFO): got valid direction response:
20:12:32.5690 LVL= 24272, 27857, 20978, 30787, AGC= 58, IDX= 509, 0.35,-1.762, 2.800,-1.510,-1.790, PHS= 0.130,-1.648, 0.236, RAW= 152.9, 13.9, CAL= 153.2, 15.6, ROT= 356.8, -15.6
2025-09-20T20:12:30.266Z,1758399150.266 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-20T20:12:30.268Z,1758399150.268 [DAT](INFO): direction in FSK: [0.961661,-0.053765,0.268920]
2025-09-20T20:12:30.268Z,1758399150.268 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:30.271Z,1758399150.271 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.611778
2025-09-20T20:12:30.508Z,1758399150.508 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.848511
2025-09-20T20:12:30.528Z,1758399150.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.502956 s,
deltaX: -0.300001 m,
approachRate: -0.596476 m/s,
rangeRepo size: 4
2025-09-20T20:12:30.530Z,1758399150.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.794901 m,
bearing: 230.892226 deg,
lat: 36.779285 deg,
lon: -121.859594 deg,
deltaT: 1.007685 s,
deltaX: -0.497974 m,
approachRate: -0.494177 m/s,
posRepo size: 4
2025-09-20T20:12:30.531Z,1758399150.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.79 m.
2025-09-20T20:12:30.537Z,1758399150.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.794901 m,
nav range: 23.935844 m,
bearing: 232.465474 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.239240 deg/s,
cmd heading: 227.326413 deg,
new cmd heading: 227.105996 deg.
2025-09-20T20:12:30.538Z,1758399150.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.963748 target range: 24.794901 and range: 24.90 m.
2025-09-20T20:12:30.761Z,1758399150.761 [DAT](INFO): DAT read: Rx Time:20:12:33.0688
2025-09-20T20:12:30.762Z,1758399150.762 [DAT](INFO): Rx dataTimestamp_ set to:1758399150.761551
2025-09-20T20:12:30.764Z,1758399150.764 [DAT](INFO): DAT read: Bearing 38.5, -7.0 (Local)
2025-09-20T20:12:30.764Z,1758399150.764 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.5, -7.0 (Local)
2025-09-20T20:12:30.771Z,1758399150.771 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.8
2025-09-20T20:12:30.788Z,1758399150.788 [DAT](INFO): DAT read: 20:12:33.0688 LVL= 22000, 27777, 19778, 30019, AGC= 58, IDX= 507, 0.38,-2.103, 2.465,-1.830,-2.123, PHS= 0.122,-1.651, 0.249, RAW= 153.4, 13.8, CAL= 153.7, 15.5, ROT= 356.3, -15.5
2025-09-20T20:12:30.789Z,1758399150.789 [DAT](INFO): got valid direction response:
20:12:33.0688 LVL= 22000, 27777, 19778, 30019, AGC= 58, IDX= 507, 0.38,-2.103, 2.465,-1.830,-2.123, PHS= 0.122,-1.651, 0.249, RAW= 153.4, 13.8, CAL= 153.7, 15.5, ROT= 356.3, -15.5
2025-09-20T20:12:30.790Z,1758399150.790 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-09-20T20:12:30.796Z,1758399150.796 [DAT](INFO): direction in FSK: [0.961622,-0.062186,0.267238]
2025-09-20T20:12:30.796Z,1758399150.796 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:30.813Z,1758399150.813 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.153151
2025-09-20T20:12:30.922Z,1758399150.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.504959 s,
deltaX: -0.299999 m,
approachRate: -0.594106 m/s,
rangeRepo size: 4
2025-09-20T20:12:30.929Z,1758399150.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.496277 m,
bearing: 230.259860 deg,
lat: 36.779285 deg,
lon: -121.859592 deg,
deltaT: 0.504959 s,
deltaX: -0.298624 m,
approachRate: -0.591383 m/s,
posRepo size: 4
2025-09-20T20:12:30.929Z,1758399150.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-09-20T20:12:30.936Z,1758399150.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.496277 m,
nav range: 23.576258 m,
bearing: 231.851134 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.239240 deg/s,
cmd heading: 227.106003 deg,
new cmd heading: 226.915236 deg.
2025-09-20T20:12:30.937Z,1758399150.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.960418 target range: 24.496277 and range: 24.60 m.
2025-09-20T20:12:31.013Z,1758399151.013 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.353121
2025-09-20T20:12:31.265Z,1758399151.265 [DAT](INFO): DAT read: Rx Time:20:12:33.5685
2025-09-20T20:12:31.265Z,1758399151.265 [DAT](INFO): Rx dataTimestamp_ set to:1758399151.264806
2025-09-20T20:12:31.266Z,1758399151.266 [DAT](INFO): DAT read: Bearing 38.2, -7.4 (Local)
2025-09-20T20:12:31.267Z,1758399151.267 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.2, -7.4 (Local)
2025-09-20T20:12:31.269Z,1758399151.269 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.6
2025-09-20T20:12:31.273Z,1758399151.273 [DAT](INFO): DAT read: 20:12:33.5685 LVL= 24240, 31969, 20946, 31603, AGC= 58, IDX= 504, 0.38, 2.953, 1.239,-3.045, 2.936, PHS= 0.119,-1.652, 0.259, RAW= 153.8, 13.7, CAL= 154.1, 15.4, ROT= 355.9, -15.4
2025-09-20T20:12:31.274Z,1758399151.274 [DAT](INFO): got valid direction response:
20:12:33.5685 LVL= 24240, 31969, 20946, 31603, AGC= 58, IDX= 504, 0.38, 2.953, 1.239,-3.045, 2.936, PHS= 0.119,-1.652, 0.259, RAW= 153.8, 13.7, CAL= 154.1, 15.4, ROT= 355.9, -15.4
2025-09-20T20:12:31.279Z,1758399151.279 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-09-20T20:12:31.280Z,1758399151.280 [DAT](INFO): direction in FSK: [0.961628,-0.068931,0.265556]
2025-09-20T20:12:31.280Z,1758399151.280 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:31.284Z,1758399151.284 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.624319
2025-09-20T20:12:31.298Z,1758399151.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.503255 s,
deltaX: -0.400000 m,
approachRate: -0.794825 m/s,
rangeRepo size: 4
2025-09-20T20:12:31.304Z,1758399151.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.097963 m,
bearing: 229.726406 deg,
lat: 36.779280 deg,
lon: -121.859592 deg,
deltaT: 0.503255 s,
deltaX: -0.398314 m,
approachRate: -0.791475 m/s,
posRepo size: 4
2025-09-20T20:12:31.305Z,1758399151.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-09-20T20:12:31.312Z,1758399151.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.097963 m,
nav range: 23.681770 m,
bearing: 230.669611 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.239240 deg/s,
cmd heading: 226.915236 deg,
new cmd heading: 226.735625 deg.
2025-09-20T20:12:31.316Z,1758399151.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.957283 target range: 24.097963 and range: 24.20 m.
2025-09-20T20:12:31.517Z,1758399151.517 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.857528
2025-09-20T20:12:31.711Z,1758399151.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:31.713Z,1758399151.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-09-20T20:12:31.716Z,1758399151.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.097963 m,
nav range: 23.410065 m,
bearing: 230.541932 deg,
approach rate: -0.652699 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 226.735629 deg,
new cmd heading: 226.477310 deg.
2025-09-20T20:12:31.717Z,1758399151.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952775 target range: 24.097963 and range: 24.20 m.
2025-09-20T20:12:31.769Z,1758399151.769 [DAT](INFO): DAT read: Rx Time:20:12:34.0684
2025-09-20T20:12:31.770Z,1758399151.770 [DAT](INFO): Rx dataTimestamp_ set to:1758399151.769890
2025-09-20T20:12:31.772Z,1758399151.772 [DAT](INFO): DAT read: Bearing 37.8, -8.0 (Local)
2025-09-20T20:12:31.772Z,1758399151.772 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.8, -8.0 (Local)
2025-09-20T20:12:31.776Z,1758399151.776 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.5
2025-09-20T20:12:31.782Z,1758399151.782 [DAT](INFO): DAT read: 20:12:34.0684 LVL= 23440, 30881, 20658, 30899, AGC= 58, IDX= 503, 0.34,-1.830, 2.751,-1.525,-1.844, PHS= 0.116,-1.643, 0.276, RAW= 154.3, 13.5, CAL= 154.6, 15.2, ROT= 355.4, -15.2
2025-09-20T20:12:31.785Z,1758399151.785 [DAT](INFO): got valid direction response:
20:12:34.0684 LVL= 23440, 30881, 20658, 30899, AGC= 58, IDX= 503, 0.34,-1.830, 2.751,-1.525,-1.844, PHS= 0.116,-1.643, 0.276, RAW= 154.3, 13.5, CAL= 154.6, 15.2, ROT= 355.4, -15.2
2025-09-20T20:12:31.786Z,1758399151.786 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-09-20T20:12:31.788Z,1758399151.788 [DAT](INFO): direction in FSK: [0.961908,-0.077394,0.262189]
2025-09-20T20:12:31.788Z,1758399151.788 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:31.802Z,1758399151.802 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.142217
2025-09-20T20:12:32.020Z,1758399152.020 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.360585
2025-09-20T20:12:32.100Z,1758399152.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.000000 m,
deltaT: 0.505084 s,
deltaX: -0.200001 m,
approachRate: -0.395975 m/s,
rangeRepo size: 4
2025-09-20T20:12:32.102Z,1758399152.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.898989 m,
bearing: 228.955148 deg,
lat: 36.779278 deg,
lon: -121.859590 deg,
deltaT: 0.505084 s,
deltaX: -0.198975 m,
approachRate: -0.393944 m/s,
posRepo size: 4
2025-09-20T20:12:32.103Z,1758399152.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-09-20T20:12:32.110Z,1758399152.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.898989 m,
nav range: 23.145597 m,
bearing: 229.893759 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 226.477311 deg,
new cmd heading: 226.237880 deg.
2025-09-20T20:12:32.115Z,1758399152.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.948596 target range: 23.898989 and range: 24.00 m.
2025-09-20T20:12:32.273Z,1758399152.273 [DAT](INFO): DAT read: Rx Time:20:12:34.5681
2025-09-20T20:12:32.273Z,1758399152.273 [DAT](INFO): Rx dataTimestamp_ set to:1758399152.273017
2025-09-20T20:12:32.275Z,1758399152.275 [DAT](INFO): DAT read: Bearing 37.7, -8.7 (Local)
2025-09-20T20:12:32.275Z,1758399152.275 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.7, -8.7 (Local)
2025-09-20T20:12:32.277Z,1758399152.277 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.6
2025-09-20T20:12:32.282Z,1758399152.282 [DAT](INFO): DAT read: 20:12:34.5681 LVL= 26336, 32753, 23330, 32755, AGC= 58, IDX= 500, 0.25,-3.041, 1.525,-2.713,-3.047, PHS= 0.107,-1.666, 0.290, RAW= 154.8, 13.5, CAL= 155.2, 15.2, ROT= 354.8, -15.2
2025-09-20T20:12:32.283Z,1758399152.283 [DAT](INFO): got valid direction response:
20:12:34.5681 LVL= 26336, 32753, 23330, 32755, AGC= 58, IDX= 500, 0.25,-3.041, 1.525,-2.713,-3.047, PHS= 0.107,-1.666, 0.290, RAW= 154.8, 13.5, CAL= 155.2, 15.2, ROT= 354.8, -15.2
2025-09-20T20:12:32.283Z,1758399152.283 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-09-20T20:12:32.284Z,1758399152.284 [DAT](INFO): direction in FSK: [0.961045,-0.087462,0.262189]
2025-09-20T20:12:32.285Z,1758399152.285 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:32.289Z,1758399152.289 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.629186
2025-09-20T20:12:32.524Z,1758399152.524 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.864531
2025-09-20T20:12:32.568Z,1758399152.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.600000 m,
deltaT: 0.503127 s,
deltaX: -0.400000 m,
approachRate: -0.795027 m/s,
rangeRepo size: 4
2025-09-20T20:12:32.570Z,1758399152.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.500671 m,
bearing: 228.220768 deg,
lat: 36.779278 deg,
lon: -121.859589 deg,
deltaT: 0.503127 s,
deltaX: -0.398317 m,
approachRate: -0.791683 m/s,
posRepo size: 4
2025-09-20T20:12:32.570Z,1758399152.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.50 m.
2025-09-20T20:12:32.577Z,1758399152.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.500671 m,
nav range: 22.816761 m,
bearing: 229.529829 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 226.237886 deg,
new cmd heading: 225.947661 deg.
2025-09-20T20:12:32.578Z,1758399152.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.943531 target range: 23.500671 and range: 23.60 m.
2025-09-20T20:12:32.629Z,1758399152.629 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:12:32.780Z,1758399152.780 [DAT](INFO): DAT read: Rx Time:20:12:35.0680
2025-09-20T20:12:32.781Z,1758399152.781 [DAT](INFO): Rx dataTimestamp_ set to:1758399152.780638
2025-09-20T20:12:32.783Z,1758399152.783 [DAT](INFO): DAT read: Bearing 37.3, -9.3 (Local)
2025-09-20T20:12:32.784Z,1758399152.784 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.3, -9.3 (Local)
2025-09-20T20:12:32.786Z,1758399152.786 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.6
2025-09-20T20:12:32.835Z,1758399152.835 [DAT](INFO): DAT read: 20:12:35.0680 LVL= 24096, 29521, 21730, 31331, AGC= 57, IDX= 499, 0.19,-2.056, 2.527,-1.706,-2.055, PHS= 0.101,-1.657, 0.305, RAW= 155.4, 13.3, CAL= 155.8, 15.0, ROT= 354.2, -15.0
2025-09-20T20:12:32.836Z,1758399152.836 [DAT](INFO): got valid direction response:
20:12:35.0680 LVL= 24096, 29521, 21730, 31331, AGC= 57, IDX= 499, 0.19,-2.056, 2.527,-1.706,-2.055, PHS= 0.101,-1.657, 0.305, RAW= 155.4, 13.3, CAL= 155.8, 15.0, ROT= 354.2, -15.0
2025-09-20T20:12:32.837Z,1758399152.837 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-09-20T20:12:32.838Z,1758399152.838 [DAT](INFO): direction in FSK: [0.960981,-0.097613,0.258819]
2025-09-20T20:12:32.838Z,1758399152.838 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:32.855Z,1758399152.855 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.191332
2025-09-20T20:12:32.973Z,1758399152.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 0.507621 s,
deltaX: -0.200001 m,
approachRate: -0.393996 m/s,
rangeRepo size: 4
2025-09-20T20:12:32.981Z,1758399152.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.301361 m,
bearing: 227.485945 deg,
lat: 36.779274 deg,
lon: -121.859587 deg,
deltaT: 0.507621 s,
deltaX: -0.199310 m,
approachRate: -0.392636 m/s,
posRepo size: 4
2025-09-20T20:12:32.982Z,1758399152.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m.
2025-09-20T20:12:32.989Z,1758399152.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.301361 m,
nav range: 22.727835 m,
bearing: 228.499742 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 225.947657 deg,
new cmd heading: 225.699356 deg.
2025-09-20T20:12:32.990Z,1758399152.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.939197 target range: 23.301361 and range: 23.40 m.
2025-09-20T20:12:33.028Z,1758399153.028 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.368773
2025-09-20T20:12:33.281Z,1758399153.281 [DAT](INFO): DAT read: Rx Time:20:12:35.5677
2025-09-20T20:12:33.281Z,1758399153.281 [DAT](INFO): Rx dataTimestamp_ set to:1758399153.280784
2025-09-20T20:12:33.282Z,1758399153.282 [DAT](INFO): DAT read: Bearing 37.1, -10.0 (Local)
2025-09-20T20:12:33.283Z,1758399153.283 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.1, -10.0 (Local)
2025-09-20T20:12:33.285Z,1758399153.285 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.8
2025-09-20T20:12:33.289Z,1758399153.289 [DAT](INFO): DAT read: 20:12:35.5677 LVL= 24624, 30513, 21746, 32035, AGC= 56, IDX= 496, 0.14, 2.776, 1.067,-3.131, 2.787, PHS= 0.091,-1.675, 0.321, RAW= 156.0, 13.3, CAL= 156.4, 15.0, ROT= 353.6, -15.0
2025-09-20T20:12:33.290Z,1758399153.290 [DAT](INFO): got valid direction response:
20:12:35.5677 LVL= 24624, 30513, 21746, 32035, AGC= 56, IDX= 496, 0.14, 2.776, 1.067,-3.131, 2.787, PHS= 0.091,-1.675, 0.321, RAW= 156.0, 13.3, CAL= 156.4, 15.0, ROT= 353.6, -15.0
2025-09-20T20:12:33.291Z,1758399153.291 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-20T20:12:33.292Z,1758399153.292 [DAT](INFO): direction in FSK: [0.959906,-0.107670,0.258819]
2025-09-20T20:12:33.292Z,1758399153.292 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:33.296Z,1758399153.296 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.636299
2025-09-20T20:12:33.408Z,1758399153.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.000000 m,
deltaT: 0.500146 s,
deltaX: -0.400000 m,
approachRate: -0.799766 m/s,
rangeRepo size: 4
2025-09-20T20:12:33.418Z,1758399153.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.903048 m,
bearing: 226.801945 deg,
lat: 36.779273 deg,
lon: -121.859586 deg,
deltaT: 0.500146 s,
deltaX: -0.398314 m,
approachRate: -0.796395 m/s,
posRepo size: 4
2025-09-20T20:12:33.425Z,1758399153.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-09-20T20:12:33.454Z,1758399153.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.903048 m,
nav range: 22.447399 m,
bearing: 227.953659 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 225.699353 deg,
new cmd heading: 225.429035 deg.
2025-09-20T20:12:33.467Z,1758399153.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.934479 target range: 22.903048 and range: 23.00 m.
2025-09-20T20:12:33.533Z,1758399153.533 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.873537
2025-09-20T20:12:33.633Z,1758399153.633 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:12:33.786Z,1758399153.786 [DAT](INFO): DAT read: Rx Time:20:12:36.0675
2025-09-20T20:12:33.786Z,1758399153.786 [DAT](INFO): Rx dataTimestamp_ set to:1758399153.785804
2025-09-20T20:12:33.788Z,1758399153.788 [DAT](INFO): DAT read: Bearing 37.0, -10.6 (Local)
2025-09-20T20:12:33.789Z,1758399153.789 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.0, -10.6 (Local)
2025-09-20T20:12:33.792Z,1758399153.792 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.7
2025-09-20T20:12:33.798Z,1758399153.798 [DAT](INFO): DAT read: 20:12:36.0675 LVL= 27600, 32753, 26434, 32755, AGC= 56, IDX= 510, 0.11, 2.648, 0.931, 3.046, 2.668, PHS= 0.082,-1.692, 0.334, RAW= 156.6, 13.3, CAL= 157.0, 15.0, ROT= 353.0, -15.0
2025-09-20T20:12:33.807Z,1758399153.807 [DAT](INFO): got valid direction response:
20:12:36.0675 LVL= 27600, 32753, 26434, 32755, AGC= 56, IDX= 510, 0.11, 2.648, 0.931, 3.046, 2.668, PHS= 0.082,-1.692, 0.334, RAW= 156.6, 13.3, CAL= 157.0, 15.0, ROT= 353.0, -15.0
2025-09-20T20:12:33.808Z,1758399153.808 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-09-20T20:12:33.809Z,1758399153.809 [DAT](INFO): direction in FSK: [0.958726,-0.117717,0.258819]
2025-09-20T20:12:33.809Z,1758399153.809 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:33.836Z,1758399153.836 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.176941
2025-09-20T20:12:33.945Z,1758399153.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.700001 m,
deltaT: 0.505020 s,
deltaX: -0.299999 m,
approachRate: -0.594034 m/s,
rangeRepo size: 4
2025-09-20T20:12:33.952Z,1758399153.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.604334 m,
bearing: 226.087118 deg,
lat: 36.779271 deg,
lon: -121.859585 deg,
deltaT: 0.505020 s,
deltaX: -0.298714 m,
approachRate: -0.591489 m/s,
posRepo size: 4
2025-09-20T20:12:33.954Z,1758399153.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-09-20T20:12:33.967Z,1758399153.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.604334 m,
nav range: 22.178440 m,
bearing: 227.149224 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 225.429041 deg,
new cmd heading: 225.092822 deg.
2025-09-20T20:12:33.969Z,1758399153.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.928611 target range: 22.604334 and range: 22.70 m.
2025-09-20T20:12:34.037Z,1758399154.037 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.377205
2025-09-20T20:12:34.289Z,1758399154.289 [DAT](INFO): DAT read: Rx Time:20:12:36.5672
2025-09-20T20:12:34.289Z,1758399154.289 [DAT](INFO): Rx dataTimestamp_ set to:1758399154.288798
2025-09-20T20:12:34.290Z,1758399154.290 [DAT](INFO): DAT read: Bearing 37.2, -11.2 (Local)
2025-09-20T20:12:34.291Z,1758399154.291 [DAT](INFO): Local bearing/azimuth received:
Bearing 37.2, -11.2 (Local)
2025-09-20T20:12:34.293Z,1758399154.293 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.5
2025-09-20T20:12:34.298Z,1758399154.298 [DAT](INFO): DAT read: 20:12:36.5672 LVL= 28464, 28049, 25954, 32755, AGC= 56, IDX= 507, 0.10, 0.816,-0.888, 1.233, 0.853, PHS= 0.065,-1.697, 0.335, RAW= 157.0, 13.5, CAL= 157.5, 15.3, ROT= 352.5, -15.3
2025-09-20T20:12:34.299Z,1758399154.299 [DAT](INFO): got valid direction response:
20:12:36.5672 LVL= 28464, 28049, 25954, 32755, AGC= 56, IDX= 507, 0.10, 0.816,-0.888, 1.233, 0.853, PHS= 0.065,-1.697, 0.335, RAW= 157.0, 13.5, CAL= 157.5, 15.3, ROT= 352.5, -15.3
2025-09-20T20:12:34.299Z,1758399154.299 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-20T20:12:34.300Z,1758399154.300 [DAT](INFO): direction in FSK: [0.956305,-0.125900,0.263873]
2025-09-20T20:12:34.300Z,1758399154.300 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:34.309Z,1758399154.309 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.648411
2025-09-20T20:12:34.396Z,1758399154.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 0.502994 s,
deltaX: -0.500000 m,
approachRate: -0.994048 m/s,
rangeRepo size: 4
2025-09-20T20:12:34.404Z,1758399154.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.106440 m,
bearing: 225.609985 deg,
lat: 36.779271 deg,
lon: -121.859582 deg,
deltaT: 0.502994 s,
deltaX: -0.497894 m,
approachRate: -0.989861 m/s,
posRepo size: 4
2025-09-20T20:12:34.405Z,1758399154.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.11 m.
2025-09-20T20:12:34.413Z,1758399154.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.106440 m,
nav range: 21.795816 m,
bearing: 226.444315 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 225.092818 deg,
new cmd heading: 224.816052 deg.
2025-09-20T20:12:34.421Z,1758399154.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.923780 target range: 22.106440 and range: 22.20 m.
2025-09-20T20:12:34.541Z,1758399154.541 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.881269
2025-09-20T20:12:34.793Z,1758399154.793 [DAT](INFO): DAT read: Rx Time:20:12:37.0670
2025-09-20T20:12:34.794Z,1758399154.794 [DAT](INFO): Rx dataTimestamp_ set to:1758399154.793760
2025-09-20T20:12:34.797Z,1758399154.797 [DAT](INFO): DAT read: Bearing 35.8, -12.7 (Local)
2025-09-20T20:12:34.797Z,1758399154.797 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.8, -12.7 (Local)
2025-09-20T20:12:34.800Z,1758399154.800 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.5
2025-09-20T20:12:34.805Z,1758399154.805 [DAT](INFO): DAT read: 20:12:37.0670 LVL= 22384, 32113, 20050, 32755, AGC= 54, IDX= 506, 0.11, 1.656, 0.006, 2.124, 1.693, PHS= 0.065,-1.642, 0.388, RAW= 158.5, 12.5, CAL= 158.9, 14.2, ROT= 351.1, -14.2
2025-09-20T20:12:34.806Z,1758399154.806 [DAT](INFO): got valid direction response:
20:12:37.0670 LVL= 22384, 32113, 20050, 32755, AGC= 54, IDX= 506, 0.11, 1.656, 0.006, 2.124, 1.693, PHS= 0.065,-1.642, 0.388, RAW= 158.5, 12.5, CAL= 158.9, 14.2, ROT= 351.1, -14.2
2025-09-20T20:12:34.806Z,1758399154.806 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-20T20:12:34.812Z,1758399154.812 [DAT](INFO): direction in FSK: [0.957773,-0.149983,0.245307]
2025-09-20T20:12:34.812Z,1758399154.812 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:34.824Z,1758399154.824 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.164000
2025-09-20T20:12:34.928Z,1758399154.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.900000 m,
deltaT: 0.504962 s,
deltaX: -0.300001 m,
approachRate: -0.594106 m/s,
rangeRepo size: 4
2025-09-20T20:12:34.930Z,1758399154.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.807732 m,
bearing: 223.916719 deg,
lat: 36.779270 deg,
lon: -121.859581 deg,
deltaT: 0.504962 s,
deltaX: -0.298708 m,
approachRate: -0.591545 m/s,
posRepo size: 4
2025-09-20T20:12:34.935Z,1758399154.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.81 m.
2025-09-20T20:12:34.938Z,1758399154.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.807732 m,
nav range: 21.469183 m,
bearing: 225.901443 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.310273 deg/s,
cmd heading: 224.816045 deg,
new cmd heading: 224.482608 deg.
2025-09-20T20:12:34.943Z,1758399154.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.917961 target range: 21.807732 and range: 21.90 m.
2025-09-20T20:12:35.046Z,1758399155.046 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.386713
2025-09-20T20:12:35.282Z,1758399155.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:35.285Z,1758399155.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.81 m.
2025-09-20T20:12:35.288Z,1758399155.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.807732 m,
nav range: 21.219742 m,
bearing: 225.751989 deg,
approach rate: -0.698576 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 224.482609 deg,
new cmd heading: 224.180190 deg.
2025-09-20T20:12:35.289Z,1758399155.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.912683 target range: 21.807732 and range: 21.90 m.
2025-09-20T20:12:35.301Z,1758399155.301 [DAT](INFO): DAT read: Rx Time:20:12:37.5667
2025-09-20T20:12:35.301Z,1758399155.301 [DAT](INFO): Rx dataTimestamp_ set to:1758399155.300688
2025-09-20T20:12:35.302Z,1758399155.302 [DAT](INFO): DAT read: Bearing 35.5, -13.5 (Local)
2025-09-20T20:12:35.303Z,1758399155.303 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.5, -13.5 (Local)
2025-09-20T20:12:35.305Z,1758399155.305 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.5
2025-09-20T20:12:35.309Z,1758399155.309 [DAT](INFO): DAT read: 20:12:37.5667 LVL= 20912, 30625, 18546, 32755, AGC= 56, IDX= 503, 0.09, 0.445,-1.188, 0.944, 0.491, PHS= 0.056,-1.634, 0.409, RAW= 159.3, 12.3, CAL= 159.7, 13.9, ROT= 350.3, -13.9
2025-09-20T20:12:35.310Z,1758399155.310 [DAT](INFO): got valid direction response:
20:12:37.5667 LVL= 20912, 30625, 18546, 32755, AGC= 56, IDX= 503, 0.09, 0.445,-1.188, 0.944, 0.491, PHS= 0.056,-1.634, 0.409, RAW= 159.3, 12.3, CAL= 159.7, 13.9, ROT= 350.3, -13.9
2025-09-20T20:12:35.311Z,1758399155.311 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-09-20T20:12:35.312Z,1758399155.312 [DAT](INFO): direction in FSK: [0.956839,-0.163556,0.240228]
2025-09-20T20:12:35.312Z,1758399155.312 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:35.315Z,1758399155.315 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.655836
2025-09-20T20:12:35.552Z,1758399155.552 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.892603
2025-09-20T20:12:35.724Z,1758399155.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.500000 m,
deltaT: 0.506928 s,
deltaX: -0.400000 m,
approachRate: -0.789066 m/s,
rangeRepo size: 4
2025-09-20T20:12:35.726Z,1758399155.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.409418 m,
bearing: 222.945344 deg,
lat: 36.779269 deg,
lon: -121.859578 deg,
deltaT: 0.506928 s,
deltaX: -0.398314 m,
approachRate: -0.785740 m/s,
posRepo size: 4
2025-09-20T20:12:35.727Z,1758399155.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.41 m.
2025-09-20T20:12:35.730Z,1758399155.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.409418 m,
nav range: 20.833471 m,
bearing: 224.919739 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 224.180196 deg,
new cmd heading: 223.808452 deg.
2025-09-20T20:12:35.731Z,1758399155.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.906194 target range: 21.409418 and range: 21.50 m.
2025-09-20T20:12:35.805Z,1758399155.805 [DAT](INFO): DAT read: Rx Time:20:12:38.0666
2025-09-20T20:12:35.805Z,1758399155.805 [DAT](INFO): Rx dataTimestamp_ set to:1758399155.804876
2025-09-20T20:12:35.806Z,1758399155.806 [DAT](INFO): DAT read: Bearing 35.0, -14.3 (Local)
2025-09-20T20:12:35.807Z,1758399155.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.0, -14.3 (Local)
2025-09-20T20:12:35.809Z,1758399155.809 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.8
2025-09-20T20:12:35.815Z,1758399155.815 [DAT](INFO): DAT read: 20:12:38.0666 LVL= 23392, 28609, 19602, 32755, AGC= 57, IDX= 502, 0.06, 2.682, 1.041,-3.064, 2.737, PHS= 0.048,-1.651, 0.438, RAW= 160.1, 12.1, CAL= 160.4, 13.6, ROT= 349.6, -13.6
2025-09-20T20:12:35.817Z,1758399155.817 [DAT](INFO): got valid direction response:
20:12:38.0666 LVL= 23392, 28609, 19602, 32755, AGC= 57, IDX= 502, 0.06, 2.682, 1.041,-3.064, 2.737, PHS= 0.048,-1.651, 0.438, RAW= 160.1, 12.1, CAL= 160.4, 13.6, ROT= 349.6, -13.6
2025-09-20T20:12:35.818Z,1758399155.818 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-09-20T20:12:35.820Z,1758399155.820 [DAT](INFO): direction in FSK: [0.955993,-0.175457,0.235142]
2025-09-20T20:12:35.820Z,1758399155.820 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:35.825Z,1758399155.825 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.165054
2025-09-20T20:12:36.056Z,1758399156.056 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.396530
2025-09-20T20:12:36.171Z,1758399156.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 0.504188 s,
deltaX: -0.200001 m,
approachRate: -0.396679 m/s,
rangeRepo size: 4
2025-09-20T20:12:36.173Z,1758399156.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.210403 m,
bearing: 222.151205 deg,
lat: 36.779266 deg,
lon: -121.859575 deg,
deltaT: 0.504188 s,
deltaX: -0.199015 m,
approachRate: -0.394723 m/s,
posRepo size: 4
2025-09-20T20:12:36.174Z,1758399156.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m.
2025-09-20T20:12:36.181Z,1758399156.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.210403 m,
nav range: 20.658102 m,
bearing: 223.391592 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 223.808456 deg,
new cmd heading: 223.433802 deg.
2025-09-20T20:12:36.184Z,1758399156.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899656 target range: 21.210403 and range: 21.30 m.
2025-09-20T20:12:36.312Z,1758399156.312 [DAT](INFO): DAT read: Rx Time:20:12:38.5665
2025-09-20T20:12:36.313Z,1758399156.313 [DAT](INFO): Rx dataTimestamp_ set to:1758399156.312225
2025-09-20T20:12:36.314Z,1758399156.314 [DAT](INFO): DAT read: Bearing 34.4, -14.8 (Local)
2025-09-20T20:12:36.314Z,1758399156.314 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.4, -14.8 (Local)
2025-09-20T20:12:36.317Z,1758399156.317 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.7
2025-09-20T20:12:36.321Z,1758399156.321 [DAT](INFO): DAT read: 20:12:38.5665 LVL= 23888, 27953, 19442, 32755, AGC= 57, IDX= 499, 0.10, 1.630,-0.016, 2.188, 1.683, PHS= 0.049,-1.654, 0.462, RAW= 160.6, 11.8, CAL= 160.9, 13.2, ROT= 349.1, -13.2
2025-09-20T20:12:36.322Z,1758399156.322 [DAT](INFO): got valid direction response:
20:12:38.5665 LVL= 23888, 27953, 19442, 32755, AGC= 57, IDX= 499, 0.10, 1.630,-0.016, 2.188, 1.683, PHS= 0.049,-1.654, 0.462, RAW= 160.6, 11.8, CAL= 160.9, 13.2, ROT= 349.1, -13.2
2025-09-20T20:12:36.322Z,1758399156.322 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-09-20T20:12:36.332Z,1758399156.332 [DAT](INFO): direction in FSK: [0.956014,-0.184099,0.228351]
2025-09-20T20:12:36.332Z,1758399156.332 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:36.340Z,1758399156.340 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.680227
2025-09-20T20:12:36.560Z,1758399156.560 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.900492
2025-09-20T20:12:36.642Z,1758399156.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.000000 m,
deltaT: 0.507349 s,
deltaX: -0.299999 m,
approachRate: -0.591307 m/s,
rangeRepo size: 4
2025-09-20T20:12:36.659Z,1758399156.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.911667 m,
bearing: 221.592566 deg,
lat: 36.779263 deg,
lon: -121.859574 deg,
deltaT: 0.507349 s,
deltaX: -0.298737 m,
approachRate: -0.588819 m/s,
posRepo size: 4
2025-09-20T20:12:36.664Z,1758399156.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-09-20T20:12:36.666Z,1758399156.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.911667 m,
nav range: 20.512644 m,
bearing: 222.558258 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 223.433806 deg,
new cmd heading: 223.043370 deg.
2025-09-20T20:12:36.672Z,1758399156.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.892841 target range: 20.911667 and range: 21.00 m.
2025-09-20T20:12:36.813Z,1758399156.813 [DAT](INFO): DAT read: Rx Time:20:12:39.0664
2025-09-20T20:12:36.813Z,1758399156.813 [DAT](INFO): Rx dataTimestamp_ set to:1758399156.812779
2025-09-20T20:12:36.814Z,1758399156.814 [DAT](INFO): DAT read: Bearing 34.8, -15.5 (Local)
2025-09-20T20:12:36.815Z,1758399156.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.8, -15.5 (Local)
2025-09-20T20:12:36.817Z,1758399156.817 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.7
2025-09-20T20:12:36.821Z,1758399156.821 [DAT](INFO): DAT read: 20:12:39.0664 LVL= 23792, 26305, 20610, 32755, AGC= 57, IDX= 498, 0.18,-2.887, 1.769,-2.308,-2.810, PHS= 0.025,-1.658, 0.458, RAW= 161.2, 12.1, CAL= 161.5, 13.7, ROT= 348.5, -13.7
2025-09-20T20:12:36.822Z,1758399156.822 [DAT](INFO): got valid direction response:
20:12:39.0664 LVL= 23792, 26305, 20610, 32755, AGC= 57, IDX= 498, 0.18,-2.887, 1.769,-2.308,-2.810, PHS= 0.025,-1.658, 0.458, RAW= 161.2, 12.1, CAL= 161.5, 13.7, ROT= 348.5, -13.7
2025-09-20T20:12:36.823Z,1758399156.823 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-09-20T20:12:36.824Z,1758399156.824 [DAT](INFO): direction in FSK: [0.952045,-0.193696,0.236838]
2025-09-20T20:12:36.824Z,1758399156.824 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:36.828Z,1758399156.828 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.168268
2025-09-20T20:12:37.047Z,1758399157.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.900000 m,
deltaT: 0.500554 s,
deltaX: -0.100000 m,
approachRate: -0.199779 m/s,
rangeRepo size: 4
2025-09-20T20:12:37.049Z,1758399157.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.812338 m,
bearing: 220.938726 deg,
lat: 36.779262 deg,
lon: -121.859572 deg,
deltaT: 0.500554 s,
deltaX: -0.099329 m,
approachRate: -0.198438 m/s,
posRepo size: 4
2025-09-20T20:12:37.050Z,1758399157.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.81 m.
2025-09-20T20:12:37.057Z,1758399157.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.812338 m,
nav range: 20.295252 m,
bearing: 221.709272 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 223.043365 deg,
new cmd heading: 222.691797 deg.
2025-09-20T20:12:37.058Z,1758399157.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.886705 target range: 20.812338 and range: 20.90 m.
2025-09-20T20:12:37.064Z,1758399157.064 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.404551
2025-09-20T20:12:37.316Z,1758399157.316 [DAT](INFO): DAT read: Rx Time:20:12:39.5661
2025-09-20T20:12:37.317Z,1758399157.317 [DAT](INFO): Rx dataTimestamp_ set to:1758399157.316665
2025-09-20T20:12:37.318Z,1758399157.318 [DAT](INFO): DAT read: Bearing 33.4, -15.8 (Local)
2025-09-20T20:12:37.319Z,1758399157.319 [DAT](INFO): Local bearing/azimuth received:
Bearing 33.4, -15.8 (Local)
2025-09-20T20:12:37.321Z,1758399157.321 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4
2025-09-20T20:12:37.325Z,1758399157.325 [DAT](INFO): DAT read: 20:12:39.5661 LVL= 25008, 27633, 20194, 32755, AGC= 58, IDX= 495, 0.29, 2.666, 1.000,-3.005, 2.720, PHS= 0.048,-1.676, 0.513, RAW= 161.6, 11.2, CAL= 161.8, 12.4, ROT= 348.2, -12.4
2025-09-20T20:12:37.326Z,1758399157.326 [DAT](INFO): got valid direction response:
20:12:39.5661 LVL= 25008, 27633, 20194, 32755, AGC= 58, IDX= 495, 0.29, 2.666, 1.000,-3.005, 2.720, PHS= 0.048,-1.676, 0.513, RAW= 161.6, 11.2, CAL= 161.8, 12.4, ROT= 348.2, -12.4
2025-09-20T20:12:37.327Z,1758399157.327 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-09-20T20:12:37.328Z,1758399157.328 [DAT](INFO): direction in FSK: [0.956033,-0.199725,0.214735]
2025-09-20T20:12:37.328Z,1758399157.328 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:37.331Z,1758399157.331 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.671906
2025-09-20T20:12:37.538Z,1758399157.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 0.503886 s,
deltaX: -0.500000 m,
approachRate: -0.992288 m/s,
rangeRepo size: 4
2025-09-20T20:12:37.544Z,1758399157.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.314436 m,
bearing: 220.415824 deg,
lat: 36.779261 deg,
lon: -121.859572 deg,
deltaT: 0.503886 s,
deltaX: -0.497902 m,
approachRate: -0.988124 m/s,
posRepo size: 4
2025-09-20T20:12:37.545Z,1758399157.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-09-20T20:12:37.552Z,1758399157.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.314436 m,
nav range: 20.064131 m,
bearing: 221.161281 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 222.691802 deg,
new cmd heading: 222.272764 deg.
2025-09-20T20:12:37.553Z,1758399157.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.879392 target range: 20.314436 and range: 20.40 m.
2025-09-20T20:12:37.568Z,1758399157.568 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.908600
2025-09-20T20:12:37.821Z,1758399157.821 [DAT](INFO): DAT read: Rx Time:20:12:40.0659
2025-09-20T20:12:37.821Z,1758399157.821 [DAT](INFO): Rx dataTimestamp_ set to:1758399157.820732
2025-09-20T20:12:37.822Z,1758399157.822 [DAT](INFO): DAT read: Bearing 33.0, -16.7 (Local)
2025-09-20T20:12:37.823Z,1758399157.823 [DAT](INFO): Local bearing/azimuth received:
Bearing 33.0, -16.7 (Local)
2025-09-20T20:12:37.826Z,1758399157.826 [DAT](INFO): DAT read: Range 11 to 50 : 20.1 m (trip time 13.4 ms) speed 0.5
2025-09-20T20:12:37.830Z,1758399157.830 [DAT](INFO): DAT read: 20:12:40.0659 LVL= 23792, 26929, 20146, 32755, AGC= 57, IDX= 509, 0.43,-2.975, 1.661,-2.330,-2.908, PHS= 0.035,-1.669, 0.534, RAW= 162.5, 11.0, CAL= 162.6, 12.2, ROT= 347.4, -12.2
2025-09-20T20:12:37.849Z,1758399157.849 [DAT](INFO): got valid direction response:
20:12:40.0659 LVL= 23792, 26929, 20146, 32755, AGC= 57, IDX= 509, 0.43,-2.975, 1.661,-2.330,-2.908, PHS= 0.035,-1.669, 0.534, RAW= 162.5, 11.0, CAL= 162.6, 12.2, ROT= 347.4, -12.2
2025-09-20T20:12:37.850Z,1758399157.850 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-09-20T20:12:37.851Z,1758399157.851 [DAT](INFO): direction in FSK: [0.953877,-0.213217,0.211325]
2025-09-20T20:12:37.852Z,1758399157.852 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:37.892Z,1758399157.892 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.232651
2025-09-20T20:12:38.058Z,1758399158.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.100000 m,
deltaT: 0.504067 s,
deltaX: -0.299999 m,
approachRate: -0.595157 m/s,
rangeRepo size: 4
2025-09-20T20:12:38.065Z,1758399158.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.015818 m,
bearing: 219.613242 deg,
lat: 36.779259 deg,
lon: -121.859571 deg,
deltaT: 0.504067 s,
deltaX: -0.298618 m,
approachRate: -0.592418 m/s,
posRepo size: 4
2025-09-20T20:12:38.065Z,1758399158.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.02 m.
2025-09-20T20:12:38.072Z,1758399158.072 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.412556
2025-09-20T20:12:38.074Z,1758399158.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.015818 m,
nav range: 19.827637 m,
bearing: 220.502639 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 222.272770 deg,
new cmd heading: 221.831716 deg.
2025-09-20T20:12:38.079Z,1758399158.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.871694 target range: 20.015818 and range: 20.10 m.
2025-09-20T20:12:38.325Z,1758399158.325 [DAT](INFO): DAT read: Rx Time:20:12:40.5656
2025-09-20T20:12:38.325Z,1758399158.325 [DAT](INFO): Rx dataTimestamp_ set to:1758399158.324919
2025-09-20T20:12:38.326Z,1758399158.326 [DAT](INFO): DAT read: Bearing 34.2, -17.7 (Local)
2025-09-20T20:12:38.327Z,1758399158.327 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.2, -17.7 (Local)
2025-09-20T20:12:38.329Z,1758399158.329 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.4
2025-09-20T20:12:38.333Z,1758399158.333 [DAT](INFO): DAT read: 20:12:40.5656 LVL= 25248, 28193, 21298, 32755, AGC= 57, IDX= 507,-0.24,-0.422,-2.011, 0.248,-0.302, PHS=-0.017,-1.664, 0.506, RAW= 163.4, 12.0, CAL= 163.6, 13.7, ROT= 346.4, -13.7
2025-09-20T20:12:38.334Z,1758399158.334 [DAT](INFO): got valid direction response:
20:12:40.5656 LVL= 25248, 28193, 21298, 32755, AGC= 57, IDX= 507,-0.24,-0.422,-2.011, 0.248,-0.302, PHS=-0.017,-1.664, 0.506, RAW= 163.4, 12.0, CAL= 163.6, 13.7, ROT= 346.4, -13.7
2025-09-20T20:12:38.335Z,1758399158.335 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-09-20T20:12:38.336Z,1758399158.336 [DAT](INFO): direction in FSK: [0.944308,-0.228452,0.236838]
2025-09-20T20:12:38.337Z,1758399158.337 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:38.358Z,1758399158.358 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.698298
2025-09-20T20:12:38.561Z,1758399158.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.700001 m,
deltaT: 0.504187 s,
deltaX: -0.400000 m,
approachRate: -0.793356 m/s,
rangeRepo size: 4
2025-09-20T20:12:38.567Z,1758399158.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.617495 m,
bearing: 218.331891 deg,
lat: 36.779259 deg,
lon: -121.859569 deg,
deltaT: 0.504187 s,
deltaX: -0.398323 m,
approachRate: -0.790030 m/s,
posRepo size: 4
2025-09-20T20:12:38.568Z,1758399158.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.62 m.
2025-09-20T20:12:38.570Z,1758399158.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.617495 m,
nav range: 19.482553 m,
bearing: 219.751963 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 221.831717 deg,
new cmd heading: 221.406165 deg.
2025-09-20T20:12:38.576Z,1758399158.576 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.916517
2025-09-20T20:12:38.577Z,1758399158.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.864267 target range: 19.617495 and range: 19.70 m.
2025-09-20T20:12:38.829Z,1758399158.829 [DAT](INFO): DAT read: Rx Time:20:12:41.0655
2025-09-20T20:12:38.829Z,1758399158.829 [DAT](INFO): Rx dataTimestamp_ set to:1758399158.828842
2025-09-20T20:12:38.830Z,1758399158.830 [DAT](INFO): DAT read: Bearing 33.8, -17.8 (Local)
2025-09-20T20:12:38.831Z,1758399158.831 [DAT](INFO): Local bearing/azimuth received:
Bearing 33.8, -17.8 (Local)
2025-09-20T20:12:38.833Z,1758399158.833 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.6
2025-09-20T20:12:38.837Z,1758399158.837 [DAT](INFO): DAT read: 20:12:41.0655 LVL= 28352, 26161, 26338, 32755, AGC= 58, IDX= 506,-0.08, 1.964, 0.341, 2.648, 2.084, PHS=-0.017,-1.698, 0.520, RAW= 163.4, 11.9, CAL= 163.7, 13.6, ROT= 346.3, -13.6
2025-09-20T20:12:38.838Z,1758399158.838 [DAT](INFO): got valid direction response:
20:12:41.0655 LVL= 28352, 26161, 26338, 32755, AGC= 58, IDX= 506,-0.08, 1.964, 0.341, 2.648, 2.084, PHS=-0.017,-1.698, 0.520, RAW= 163.4, 11.9, CAL= 163.7, 13.6, ROT= 346.3, -13.6
2025-09-20T20:12:38.839Z,1758399158.839 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-09-20T20:12:38.840Z,1758399158.840 [DAT](INFO): direction in FSK: [0.944308,-0.230198,0.235142]
2025-09-20T20:12:38.840Z,1758399158.840 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:38.844Z,1758399158.844 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.184072
2025-09-20T20:12:39.046Z,1758399159.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.500000 m,
deltaT: 0.503923 s,
deltaX: -0.200001 m,
approachRate: -0.396888 m/s,
rangeRepo size: 4
2025-09-20T20:12:39.057Z,1758399159.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.418146 m,
bearing: 218.074235 deg,
lat: 36.779258 deg,
lon: -121.859568 deg,
deltaT: 0.503923 s,
deltaX: -0.199348 m,
approachRate: -0.395593 m/s,
posRepo size: 4
2025-09-20T20:12:39.057Z,1758399159.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-09-20T20:12:39.064Z,1758399159.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.418146 m,
nav range: 19.180956 m,
bearing: 219.035749 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 221.406169 deg,
new cmd heading: 220.994842 deg.
2025-09-20T20:12:39.065Z,1758399159.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.857088 target range: 19.418146 and range: 19.50 m.
2025-09-20T20:12:39.080Z,1758399159.080 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.420521
2025-09-20T20:12:39.333Z,1758399159.333 [DAT](INFO): DAT read: Rx Time:20:12:41.5653
2025-09-20T20:12:39.333Z,1758399159.333 [DAT](INFO): Rx dataTimestamp_ set to:1758399159.332789
2025-09-20T20:12:39.334Z,1758399159.334 [DAT](INFO): DAT read: Bearing 32.9, -18.4 (Local)
2025-09-20T20:12:39.335Z,1758399159.335 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.9, -18.4 (Local)
2025-09-20T20:12:39.337Z,1758399159.337 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.6
2025-09-20T20:12:39.342Z,1758399159.342 [DAT](INFO): DAT read: 20:12:41.5653 LVL= 23632, 28145, 20978, 32755, AGC= 58, IDX= 503, 0.10, 2.034, 0.424, 2.741, 2.150, PHS=-0.014,-1.681, 0.548, RAW= 164.0, 11.4, CAL= 164.2, 12.9, ROT= 345.8, -12.9
2025-09-20T20:12:39.343Z,1758399159.343 [DAT](INFO): got valid direction response:
20:12:41.5653 LVL= 23632, 28145, 20978, 32755, AGC= 58, IDX= 503, 0.10, 2.034, 0.424, 2.741, 2.150, PHS=-0.014,-1.681, 0.548, RAW= 164.0, 11.4, CAL= 164.2, 12.9, ROT= 345.8, -12.9
2025-09-20T20:12:39.343Z,1758399159.343 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-09-20T20:12:39.344Z,1758399159.344 [DAT](INFO): direction in FSK: [0.944978,-0.239116,0.223250]
2025-09-20T20:12:39.345Z,1758399159.345 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:39.348Z,1758399159.348 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.688555
2025-09-20T20:12:39.424Z,1758399159.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.200001 m,
deltaT: 0.503947 s,
deltaX: -0.299999 m,
approachRate: -0.595299 m/s,
rangeRepo size: 4
2025-09-20T20:12:39.426Z,1758399159.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.119406 m,
bearing: 217.341614 deg,
lat: 36.779258 deg,
lon: -121.859565 deg,
deltaT: 0.503947 s,
deltaX: -0.298740 m,
approachRate: -0.592801 m/s,
posRepo size: 4
2025-09-20T20:12:39.427Z,1758399159.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.12 m.
2025-09-20T20:12:39.433Z,1758399159.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.119406 m,
nav range: 18.828779 m,
bearing: 218.010550 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 220.994841 deg,
new cmd heading: 220.682239 deg.
2025-09-20T20:12:39.434Z,1758399159.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.851632 target range: 19.119406 and range: 19.20 m.
2025-09-20T20:12:39.584Z,1758399159.584 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.924513
2025-09-20T20:12:39.837Z,1758399159.837 [DAT](INFO): DAT read: Rx Time:20:12:42.0652
2025-09-20T20:12:39.837Z,1758399159.837 [DAT](INFO): Rx dataTimestamp_ set to:1758399159.836893
2025-09-20T20:12:39.838Z,1758399159.838 [DAT](INFO): DAT read: Bearing 32.6, -18.7 (Local)
2025-09-20T20:12:39.839Z,1758399159.839 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.6, -18.7 (Local)
2025-09-20T20:12:39.841Z,1758399159.841 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4
2025-09-20T20:12:39.846Z,1758399159.846 [DAT](INFO): DAT read: 20:12:42.0652 LVL= 23264, 28257, 23090, 32755, AGC= 58, IDX= 502, 0.34,-3.104, 1.589,-2.391,-2.981, PHS=-0.020,-1.668, 0.546, RAW= 164.3, 11.5, CAL= 164.4, 13.0, ROT= 345.6, -13.0
2025-09-20T20:12:39.847Z,1758399159.847 [DAT](INFO): got valid direction response:
20:12:42.0652 LVL= 23264, 28257, 23090, 32755, AGC= 58, IDX= 502, 0.34,-3.104, 1.589,-2.391,-2.981, PHS=-0.020,-1.668, 0.546, RAW= 164.3, 11.5, CAL= 164.4, 13.0, ROT= 345.6, -13.0
2025-09-20T20:12:39.847Z,1758399159.847 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-09-20T20:12:39.848Z,1758399159.848 [DAT](INFO): direction in FSK: [0.943758,-0.242316,0.224951]
2025-09-20T20:12:39.848Z,1758399159.848 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:39.852Z,1758399159.852 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.192667
2025-09-20T20:12:39.872Z,1758399159.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.100000 m,
deltaT: 0.504104 s,
deltaX: -0.100000 m,
approachRate: -0.198373 m/s,
rangeRepo size: 4
2025-09-20T20:12:39.874Z,1758399159.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.019825 m,
bearing: 217.151499 deg,
lat: 36.779257 deg,
lon: -121.859564 deg,
deltaT: 0.504104 s,
deltaX: -0.099581 m,
approachRate: -0.197540 m/s,
posRepo size: 4
2025-09-20T20:12:39.875Z,1758399159.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-09-20T20:12:39.882Z,1758399159.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.019825 m,
nav range: 18.596933 m,
bearing: 217.475497 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.423476 deg/s,
cmd heading: 220.682237 deg,
new cmd heading: 220.295950 deg.
2025-09-20T20:12:39.882Z,1758399159.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.844890 target range: 19.019825 and range: 19.10 m.
2025-09-20T20:12:40.088Z,1758399160.088 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.428593
2025-09-20T20:12:40.223Z,1758399160.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:40.225Z,1758399160.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-09-20T20:12:40.232Z,1758399160.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.019825 m,
nav range: 18.369528 m,
bearing: 217.232654 deg,
approach rate: -0.641743 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 220.295949 deg,
new cmd heading: 219.804264 deg.
2025-09-20T20:12:40.233Z,1758399160.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836308 target range: 19.019825 and range: 19.10 m.
2025-09-20T20:12:40.344Z,1758399160.344 [DAT](INFO): DAT read: Rx Time:20:12:42.5649
2025-09-20T20:12:40.344Z,1758399160.344 [DAT](INFO): Rx dataTimestamp_ set to:1758399160.344120
2025-09-20T20:12:40.346Z,1758399160.346 [DAT](INFO): DAT read: Bearing 32.6, -19.6 (Local)
2025-09-20T20:12:40.347Z,1758399160.347 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.6, -19.6 (Local)
2025-09-20T20:12:40.350Z,1758399160.350 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4
2025-09-20T20:12:40.357Z,1758399160.357 [DAT](INFO): DAT read: 20:12:42.5649 LVL= 25376, 32033, 26290, 32755, AGC= 59, IDX= 500,-0.32, 0.504,-1.055, 1.245, 0.652, PHS=-0.046,-1.662, 0.549, RAW= 165.1, 11.7, CAL= 165.2, 13.4, ROT= 344.8, -13.4
2025-09-20T20:12:40.358Z,1758399160.358 [DAT](INFO): got valid direction response:
20:12:42.5649 LVL= 25376, 32033, 26290, 32755, AGC= 59, IDX= 500,-0.32, 0.504,-1.055, 1.245, 0.652, PHS=-0.046,-1.662, 0.549, RAW= 165.1, 11.7, CAL= 165.2, 13.4, ROT= 344.8, -13.4
2025-09-20T20:12:40.358Z,1758399160.358 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-09-20T20:12:40.359Z,1758399160.359 [DAT](INFO): direction in FSK: [0.938745,-0.255051,0.231748]
2025-09-20T20:12:40.360Z,1758399160.360 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:40.369Z,1758399160.369 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.709314
2025-09-20T20:12:40.596Z,1758399160.596 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.936392
2025-09-20T20:12:40.694Z,1758399160.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.507227 s,
deltaX: -0.300001 m,
approachRate: -0.591453 m/s,
rangeRepo size: 4
2025-09-20T20:12:40.696Z,1758399160.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.721079 m,
bearing: 215.646452 deg,
lat: 36.779256 deg,
lon: -121.859564 deg,
deltaT: 0.507227 s,
deltaX: -0.298746 m,
approachRate: -0.588979 m/s,
posRepo size: 4
2025-09-20T20:12:40.697Z,1758399160.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m.
2025-09-20T20:12:40.700Z,1758399160.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.721079 m,
nav range: 18.102474 m,
bearing: 216.610676 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 219.804271 deg,
new cmd heading: 219.154718 deg.
2025-09-20T20:12:40.701Z,1758399160.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.824971 target range: 18.721079 and range: 18.80 m.
2025-09-20T20:12:40.849Z,1758399160.849 [DAT](INFO): DAT read: Rx Time:20:12:43.0648
2025-09-20T20:12:40.849Z,1758399160.849 [DAT](INFO): Rx dataTimestamp_ set to:1758399160.848878
2025-09-20T20:12:40.850Z,1758399160.850 [DAT](INFO): DAT read: Bearing 30.5, -18.6 (Local)
2025-09-20T20:12:40.851Z,1758399160.851 [DAT](INFO): Local bearing/azimuth received:
Bearing 30.5, -18.6 (Local)
2025-09-20T20:12:40.853Z,1758399160.853 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.4
2025-09-20T20:12:40.858Z,1758399160.858 [DAT](INFO): DAT read: 20:12:43.0648 LVL= 21232, 32753, 31410, 32755, AGC= 56, IDX= 499,-0.07, 1.617, 0.033, 2.319, 1.704, PHS= 0.014,-1.627, 0.570, RAW= 164.1, 10.5, CAL= 164.1, 11.7, ROT= 345.9, -11.7
2025-09-20T20:12:40.859Z,1758399160.859 [DAT](INFO): got valid direction response:
20:12:43.0648 LVL= 21232, 32753, 31410, 32755, AGC= 56, IDX= 499,-0.07, 1.617, 0.033, 2.319, 1.704, PHS= 0.014,-1.627, 0.570, RAW= 164.1, 10.5, CAL= 164.1, 11.7, ROT= 345.9, -11.7
2025-09-20T20:12:40.859Z,1758399160.859 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-09-20T20:12:40.860Z,1758399160.860 [DAT](INFO): direction in FSK: [0.949721,-0.238554,0.202787]
2025-09-20T20:12:40.861Z,1758399160.861 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:40.864Z,1758399160.864 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.204836
2025-09-20T20:12:41.070Z,1758399161.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.504758 s,
deltaX: -0.199999 m,
approachRate: -0.396227 m/s,
rangeRepo size: 4
2025-09-20T20:12:41.076Z,1758399161.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.521875 m,
bearing: 216.344887 deg,
lat: 36.779255 deg,
lon: -121.859564 deg,
deltaT: 0.504758 s,
deltaX: -0.199203 m,
approachRate: -0.394651 m/s,
posRepo size: 4
2025-09-20T20:12:41.077Z,1758399161.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.52 m.
2025-09-20T20:12:41.084Z,1758399161.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.521875 m,
nav range: 18.015940 m,
bearing: 216.283926 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 219.154720 deg,
new cmd heading: 218.633786 deg.
2025-09-20T20:12:41.085Z,1758399161.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.815879 target range: 18.521875 and range: 18.60 m.
2025-09-20T20:12:41.104Z,1758399161.104 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.443712
2025-09-20T20:12:41.353Z,1758399161.353 [DAT](INFO): DAT read: Rx Time:20:12:43.5645
2025-09-20T20:12:41.354Z,1758399161.354 [DAT](INFO): Rx dataTimestamp_ set to:1758399161.353721
2025-09-20T20:12:41.356Z,1758399161.356 [DAT](INFO): DAT read: Bearing 30.8, -17.5 (Local)
2025-09-20T20:12:41.357Z,1758399161.357 [DAT](INFO): Local bearing/azimuth received:
Bearing 30.8, -17.5 (Local)
2025-09-20T20:12:41.359Z,1758399161.359 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5
2025-09-20T20:12:41.365Z,1758399161.365 [DAT](INFO): DAT read: 20:12:43.5645 LVL= 21488, 32753, 32754, 32755, AGC= 55, IDX= 496, 0.17, 0.915,-0.705, 1.566, 0.991, PHS= 0.026,-1.651, 0.531, RAW= 162.8, 11.1, CAL= 162.9, 12.4, ROT= 347.1, -12.4
2025-09-20T20:12:41.366Z,1758399161.366 [DAT](INFO): got valid direction response:
20:12:43.5645 LVL= 21488, 32753, 32754, 32755, AGC= 55, IDX= 496, 0.17, 0.915,-0.705, 1.566, 0.991, PHS= 0.026,-1.651, 0.531, RAW= 162.8, 11.1, CAL= 162.9, 12.4, ROT= 347.1, -12.4
2025-09-20T20:12:41.367Z,1758399161.367 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-09-20T20:12:41.368Z,1758399161.368 [DAT](INFO): direction in FSK: [0.952022,-0.218042,0.214735]
2025-09-20T20:12:41.368Z,1758399161.368 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:41.375Z,1758399161.375 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.715916
2025-09-20T20:12:41.586Z,1758399161.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.200001 m,
deltaT: 0.504843 s,
deltaX: -0.400000 m,
approachRate: -0.792325 m/s,
rangeRepo size: 4
2025-09-20T20:12:41.608Z,1758399161.608 [DAT](INFO): DAT read: Rx Time:20:12:44.0643
2025-09-20T20:12:41.610Z,1758399161.610 [DAT](INFO): Rx dataTimestamp_ set to:1758399161.608973
2025-09-20T20:12:41.614Z,1758399161.614 [DAT](INFO): DAT read: Bearing 31.7, -16.9 (Local)
2025-09-20T20:12:41.615Z,1758399161.615 [DAT](INFO): Local bearing/azimuth received:
Bearing 31.7, -16.9 (Local)
2025-09-20T20:12:41.618Z,1758399161.618 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.957762
2025-09-20T20:12:41.624Z,1758399161.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.123556 m,
bearing: 217.583516 deg,
lat: 36.779255 deg,
lon: -121.859564 deg,
deltaT: 0.504843 s,
deltaX: -0.398319 m,
approachRate: -0.788996 m/s,
posRepo size: 4
2025-09-20T20:12:41.627Z,1758399161.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.12 m.
2025-09-20T20:12:41.656Z,1758399161.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.123556 m,
nav range: 17.737143 m,
bearing: 215.917851 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 218.633782 deg,
new cmd heading: 217.932917 deg.
2025-09-20T20:12:41.662Z,1758399161.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.803647 target range: 18.123556 and range: 18.20 m.
2025-09-20T20:12:41.857Z,1758399161.857 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.5
2025-09-20T20:12:41.862Z,1758399161.862 [DAT](INFO): DAT read: 20:12:44.0643 LVL= 19808, 31585, 30322, 32755, AGC= 54, IDX= 510, 0.35, 0.991,-0.633, 1.608, 1.079, PHS= 0.014,-1.667, 0.485, RAW= 162.0, 11.9, CAL= 162.3, 13.5, ROT= 347.7, -13.5
2025-09-20T20:12:41.863Z,1758399161.863 [DAT](INFO): got valid direction response:
20:12:44.0643 LVL= 19808, 31585, 30322, 32755, AGC= 54, IDX= 510, 0.35, 0.991,-0.633, 1.608, 1.079, PHS= 0.014,-1.667, 0.485, RAW= 162.0, 11.9, CAL= 162.3, 13.5, ROT= 347.7, -13.5
2025-09-20T20:12:41.864Z,1758399161.864 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-09-20T20:12:41.865Z,1758399161.865 [DAT](INFO): direction in FSK: [0.950050,-0.207144,0.233445]
2025-09-20T20:12:41.865Z,1758399161.865 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:41.869Z,1758399161.869 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.209148
2025-09-20T20:12:42.065Z,1758399162.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.501704 s,
deltaX: -0.300001 m,
approachRate: -0.597964 m/s,
rangeRepo size: 4
2025-09-20T20:12:42.071Z,1758399162.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.824963 m,
bearing: 217.322206 deg,
lat: 36.779255 deg,
lon: -121.859566 deg,
deltaT: 0.501704 s,
deltaX: -0.298594 m,
approachRate: -0.595159 m/s,
posRepo size: 4
2025-09-20T20:12:42.072Z,1758399162.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m.
2025-09-20T20:12:42.074Z,1758399162.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.824963 m,
nav range: 17.530310 m,
bearing: 216.005432 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 217.932922 deg,
new cmd heading: 217.252902 deg.
2025-09-20T20:12:42.080Z,1758399162.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.791779 target range: 17.824963 and range: 17.90 m.
2025-09-20T20:12:42.112Z,1758399162.112 [DAT](INFO): DAT read: Rx Time:20:12:44.5640
2025-09-20T20:12:42.114Z,1758399162.114 [DAT](INFO): Rx dataTimestamp_ set to:1758399162.112648
2025-09-20T20:12:42.117Z,1758399162.117 [DAT](INFO): DAT read: Bearing 32.2, -16.5 (Local)
2025-09-20T20:12:42.118Z,1758399162.118 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.2, -16.5 (Local)
2025-09-20T20:12:42.121Z,1758399162.121 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.460869
2025-09-20T20:12:42.361Z,1758399162.361 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5
2025-09-20T20:12:42.366Z,1758399162.366 [DAT](INFO): DAT read: 20:12:44.5640 LVL= 19344, 30801, 31826, 32755, AGC= 54, IDX= 508,-0.47,-1.124,-2.741,-0.538,-1.027, PHS= 0.006,-1.669, 0.446, RAW= 161.4, 12.6, CAL= 161.8, 14.3, ROT= 348.2, -14.3
2025-09-20T20:12:42.367Z,1758399162.367 [DAT](INFO): got valid direction response:
20:12:44.5640 LVL= 19344, 30801, 31826, 32755, AGC= 54, IDX= 508,-0.47,-1.124,-2.741,-0.538,-1.027, PHS= 0.006,-1.669, 0.446, RAW= 161.4, 12.6, CAL= 161.8, 14.3, ROT= 348.2, -14.3
2025-09-20T20:12:42.368Z,1758399162.368 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-09-20T20:12:42.369Z,1758399162.369 [DAT](INFO): direction in FSK: [0.948538,-0.198160,0.246999]
2025-09-20T20:12:42.369Z,1758399162.369 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:42.372Z,1758399162.372 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.712931
2025-09-20T20:12:42.501Z,1758399162.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.503964 s,
deltaX: -0.500000 m,
approachRate: -0.992134 m/s,
rangeRepo size: 4
2025-09-20T20:12:42.503Z,1758399162.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.327059 m,
bearing: 217.532889 deg,
lat: 36.779257 deg,
lon: -121.859570 deg,
deltaT: 0.503964 s,
deltaX: -0.497904 m,
approachRate: -0.987975 m/s,
posRepo size: 4
2025-09-20T20:12:42.507Z,1758399162.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.33 m.
2025-09-20T20:12:42.510Z,1758399162.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.327059 m,
nav range: 17.299505 m,
bearing: 216.804803 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 217.252909 deg,
new cmd heading: 216.648442 deg.
2025-09-20T20:12:42.517Z,1758399162.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.781229 target range: 17.327059 and range: 17.40 m.
2025-09-20T20:12:42.618Z,1758399162.618 [DAT](INFO): DAT read: Rx Time:20:12:45.0639
2025-09-20T20:12:42.620Z,1758399162.620 [DAT](INFO): Rx dataTimestamp_ set to:1758399162.618627
2025-09-20T20:12:42.622Z,1758399162.622 [DAT](INFO): DAT read: Bearing 32.4, -15.0 (Local)
2025-09-20T20:12:42.625Z,1758399162.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.4, -15.0 (Local)
2025-09-20T20:12:42.634Z,1758399162.634 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.5
2025-09-20T20:12:42.641Z,1758399162.641 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-09-20T20:12:42.668Z,1758399162.668 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.008678
2025-09-20T20:12:42.868Z,1758399162.868 [DAT](INFO): DAT read: 20:12:45.0639 LVL= 22768, 31057, 32754, 32755, AGC= 54, IDX= 507,-0.34, 0.314,-1.336, 0.835, 0.393, PHS= 0.022,-1.685, 0.398, RAW= 159.7, 13.1, CAL= 160.2, 14.9, ROT= 349.8, -14.9
2025-09-20T20:12:42.869Z,1758399162.869 [DAT](INFO): got valid direction response:
20:12:45.0639 LVL= 22768, 31057, 32754, 32755, AGC= 54, IDX= 507,-0.34, 0.314,-1.336, 0.835, 0.393, PHS= 0.022,-1.685, 0.398, RAW= 159.7, 13.1, CAL= 160.2, 14.9, ROT= 349.8, -14.9
2025-09-20T20:12:42.870Z,1758399162.870 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-09-20T20:12:42.870Z,1758399162.870 [DAT](INFO): direction in FSK: [0.951103,-0.171131,0.257133]
2025-09-20T20:12:42.874Z,1758399162.874 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.214420
2025-09-20T20:12:43.039Z,1758399163.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.259238 s,
deltaX: -0.100000 m,
approachRate: -0.385747 m/s,
rangeRepo size: 4
2025-09-20T20:12:43.041Z,1758399163.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.227364 m,
bearing: 218.820924 deg,
lat: 36.779257 deg,
lon: -121.859570 deg,
deltaT: 0.259238 s,
deltaX: -0.099695 m,
approachRate: -0.384570 m/s,
posRepo size: 4
2025-09-20T20:12:43.042Z,1758399163.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.23 m.
2025-09-20T20:12:43.045Z,1758399163.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.227364 m,
nav range: 16.935587 m,
bearing: 216.567837 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 216.648437 deg,
new cmd heading: 215.906748 deg.
2025-09-20T20:12:43.046Z,1758399163.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.768284 target range: 17.227364 and range: 17.30 m.
2025-09-20T20:12:43.125Z,1758399163.125 [DAT](INFO): DAT read: Rx Time:20:12:45.5636
2025-09-20T20:12:43.126Z,1758399163.126 [DAT](INFO): Rx dataTimestamp_ set to:1758399163.125353
2025-09-20T20:12:43.130Z,1758399163.130 [DAT](INFO): DAT read: Bearing 32.8, -13.8 (Local)
2025-09-20T20:12:43.132Z,1758399163.132 [DAT](INFO): Local bearing/azimuth received:
Bearing 32.8, -13.8 (Local)
2025-09-20T20:12:43.141Z,1758399163.141 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.5
2025-09-20T20:12:43.156Z,1758399163.156 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-09-20T20:12:43.164Z,1758399163.164 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.504480
2025-09-20T20:12:43.376Z,1758399163.376 [DAT](INFO): DAT read: 20:12:45.5636 LVL= 23408, 32753, 32754, 32755, AGC= 54, IDX= 504,-0.23,-0.829,-2.485,-0.368,-0.757, PHS= 0.030,-1.683, 0.344, RAW= 158.3, 13.8, CAL= 158.9, 15.7, ROT= 351.1, -15.7
2025-09-20T20:12:43.377Z,1758399163.377 [DAT](INFO): got valid direction response:
20:12:45.5636 LVL= 23408, 32753, 32754, 32755, AGC= 54, IDX= 504,-0.23,-0.829,-2.485,-0.368,-0.757, PHS= 0.030,-1.683, 0.344, RAW= 158.3, 13.8, CAL= 158.9, 15.7, ROT= 351.1, -15.7
2025-09-20T20:12:43.377Z,1758399163.377 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-09-20T20:12:43.378Z,1758399163.378 [DAT](INFO): direction in FSK: [0.951101,-0.148938,0.270600]
2025-09-20T20:12:43.382Z,1758399163.382 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.722099
2025-09-20T20:12:43.484Z,1758399163.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.506726 s,
deltaX: -0.500000 m,
approachRate: -0.986727 m/s,
rangeRepo size: 4
2025-09-20T20:12:43.486Z,1758399163.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.729464 m,
bearing: 219.836019 deg,
lat: 36.779260 deg,
lon: -121.859570 deg,
deltaT: 0.506726 s,
deltaX: -0.497900 m,
approachRate: -0.982582 m/s,
posRepo size: 4
2025-09-20T20:12:43.491Z,1758399163.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:12:43.494Z,1758399163.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.729464 m,
nav range: 16.422028 m,
bearing: 216.951049 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 215.906747 deg,
new cmd heading: 215.283385 deg.
2025-09-20T20:12:43.503Z,1758399163.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.757404 target range: 16.729464 and range: 16.80 m.
2025-09-20T20:12:43.630Z,1758399163.630 [DAT](INFO): DAT read: Rx Time:20:12:46.0635
2025-09-20T20:12:43.632Z,1758399163.632 [DAT](INFO): Rx dataTimestamp_ set to:1758399163.631111
2025-09-20T20:12:43.635Z,1758399163.635 [DAT](INFO): DAT read: Bearing 33.2, -11.8 (Local)
2025-09-20T20:12:43.636Z,1758399163.636 [DAT](INFO): Local bearing/azimuth received:
Bearing 33.2, -11.8 (Local)
2025-09-20T20:12:43.641Z,1758399163.641 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.5
2025-09-20T20:12:43.644Z,1758399163.644 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-09-20T20:12:43.646Z,1758399163.646 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.986490
2025-09-20T20:12:43.884Z,1758399163.884 [DAT](INFO): DAT read: 20:12:46.0635 LVL= 24928, 32753, 32754, 32755, AGC= 54, IDX= 503,-0.15, 0.893,-0.801, 1.273, 0.948, PHS= 0.047,-1.704, 0.281, RAW= 156.2, 14.5, CAL= 156.8, 16.6, ROT= 353.2, -16.6
2025-09-20T20:12:43.885Z,1758399163.885 [DAT](INFO): got valid direction response:
20:12:46.0635 LVL= 24928, 32753, 32754, 32755, AGC= 54, IDX= 503,-0.15, 0.893,-0.801, 1.273, 0.948, PHS= 0.047,-1.704, 0.281, RAW= 156.2, 14.5, CAL= 156.8, 16.6, ROT= 353.2, -16.6
2025-09-20T20:12:43.885Z,1758399163.885 [DAT](INFO): #Rx 54: Read direction message, but no range.
2025-09-20T20:12:43.886Z,1758399163.886 [DAT](INFO): direction in FSK: [0.951581,-0.113469,0.285688]
2025-09-20T20:12:43.890Z,1758399163.890 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.230082
2025-09-20T20:12:43.985Z,1758399163.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.505758 s,
deltaX: -0.099998 m,
approachRate: -0.197720 m/s,
rangeRepo size: 4
2025-09-20T20:12:43.991Z,1758399163.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.629881 m,
bearing: 221.967501 deg,
lat: 36.779261 deg,
lon: -121.859576 deg,
deltaT: 0.505758 s,
deltaX: -0.099583 m,
approachRate: -0.196898 m/s,
posRepo size: 4
2025-09-20T20:12:43.992Z,1758399163.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m.
2025-09-20T20:12:43.994Z,1758399163.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.629881 m,
nav range: 16.318617 m,
bearing: 218.213810 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.693789 deg/s,
cmd heading: 215.283383 deg,
new cmd heading: 214.589001 deg.
2025-09-20T20:12:44.016Z,1758399164.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.745285 target range: 16.629881 and range: 16.70 m.
2025-09-20T20:12:44.141Z,1758399164.141 [DAT](INFO): DAT read: Rx Time:20:12:46.5632
2025-09-20T20:12:44.142Z,1758399164.142 [DAT](INFO): Rx dataTimestamp_ set to:1758399164.141383
2025-09-20T20:12:44.146Z,1758399164.146 [DAT](INFO): DAT read: Bearing 34.2, -10.7 (Local)
2025-09-20T20:12:44.147Z,1758399164.147 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.2, -10.7 (Local)
2025-09-20T20:12:44.153Z,1758399164.153 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.5
2025-09-20T20:12:44.156Z,1758399164.156 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-09-20T20:12:44.159Z,1758399164.159 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.498602
2025-09-20T20:12:44.333Z,1758399164.333 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:44.338Z,1758399164.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.510272 s,
deltaX: -0.500000 m,
approachRate: -0.979870 m/s,
rangeRepo size: 4
2025-09-20T20:12:44.338Z,1758399164.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m.
2025-09-20T20:12:44.341Z,1758399164.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.629881 m,
nav range: 16.072319 m,
bearing: 217.946462 deg,
approach rate: -0.698186 m/s,
LOS rate: -0.769468 deg/s,
cmd heading: 214.588998 deg,
new cmd heading: 214.046127 deg.
2025-09-20T20:12:44.342Z,1758399164.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.735810 target range: 16.629881 and range: 16.20 m.
2025-09-20T20:12:44.394Z,1758399164.394 [DAT](INFO): DAT read: 20:12:46.5632 LVL= 20976, 31137, 30706, 32755, AGC= 55, IDX= 500,-0.05,-0.657,-2.331,-0.331,-0.585, PHS= 0.030,-1.701, 0.211, RAW= 154.9, 15.8, CAL= 155.6, 18.1, ROT= 354.4, -18.1
2025-09-20T20:12:44.396Z,1758399164.396 [DAT](INFO): got valid direction response:
20:12:46.5632 LVL= 20976, 31137, 30706, 32755, AGC= 55, IDX= 500,-0.05,-0.657,-2.331,-0.331,-0.585, PHS= 0.030,-1.701, 0.211, RAW= 154.9, 15.8, CAL= 155.6, 18.1, ROT= 354.4, -18.1
2025-09-20T20:12:44.396Z,1758399164.396 [DAT](INFO): #Rx 56: Read direction message, but no range.
2025-09-20T20:12:44.397Z,1758399164.397 [DAT](INFO): direction in FSK: [0.945979,-0.092754,0.310676]
2025-09-20T20:12:44.400Z,1758399164.400 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.740755
2025-09-20T20:12:44.650Z,1758399164.650 [DAT](INFO): DAT read: Rx Time:20:12:47.0632
2025-09-20T20:12:44.653Z,1758399164.653 [DAT](INFO): Rx dataTimestamp_ set to:1758399164.651710
2025-09-20T20:12:44.657Z,1758399164.657 [DAT](INFO): DAT read: Bearing 34.5, -8.1 (Local)
2025-09-20T20:12:44.659Z,1758399164.659 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.5, -8.1 (Local)
2025-09-20T20:12:44.661Z,1758399164.661 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.5
2025-09-20T20:12:44.666Z,1758399164.666 [DAT](INFO): DAT read: 20:12:47.0632 LVL= 25280, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.04, 1.573,-0.144, 1.801, 1.619, PHS= 0.056,-1.717, 0.138, RAW= 152.2, 16.5, CAL= 152.8, 18.7, ROT= 357.2, -18.7
2025-09-20T20:12:44.667Z,1758399164.667 [DAT](INFO): got valid direction response:
20:12:47.0632 LVL= 25280, 32753, 32754, 32755, AGC= 54, IDX= 499, 0.04, 1.573,-0.144, 1.801, 1.619, PHS= 0.056,-1.717, 0.138, RAW= 152.2, 16.5, CAL= 152.8, 18.7, ROT= 357.2, -18.7
2025-09-20T20:12:44.668Z,1758399164.668 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-09-20T20:12:44.669Z,1758399164.669 [DAT](INFO): direction in FSK: [0.946079,-0.046271,0.320613]
2025-09-20T20:12:44.669Z,1758399164.669 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:44.673Z,1758399164.673 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.013090
2025-09-20T20:12:44.871Z,1758399164.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.510327 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:44.873Z,1758399164.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.131981 m,
bearing: 224.982604 deg,
lat: 36.779265 deg,
lon: -121.859577 deg,
deltaT: 1.020599 s,
deltaX: -0.497900 m,
approachRate: -0.487851 m/s,
posRepo size: 4
2025-09-20T20:12:44.874Z,1758399164.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.13 m.
2025-09-20T20:12:44.885Z,1758399164.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.131981 m,
nav range: 15.493246 m,
bearing: 218.953048 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.769468 deg/s,
cmd heading: 214.046121 deg,
new cmd heading: 213.237846 deg.
2025-09-20T20:12:44.886Z,1758399164.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.721703 target range: 16.131981 and range: 16.20 m.
2025-09-20T20:12:44.892Z,1758399164.892 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.232447
2025-09-20T20:12:45.149Z,1758399165.149 [DAT](INFO): DAT read: Rx Time:20:12:47.5629
2025-09-20T20:12:45.150Z,1758399165.150 [DAT](INFO): Rx dataTimestamp_ set to:1758399165.149323
2025-09-20T20:12:45.156Z,1758399165.156 [DAT](INFO): DAT read: Bearing 35.1, -6.8 (Local)
2025-09-20T20:12:45.156Z,1758399165.156 [DAT](INFO): Local bearing/azimuth received:
Bearing 35.1, -6.8 (Local)
2025-09-20T20:12:45.158Z,1758399165.158 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.5
2025-09-20T20:12:45.163Z,1758399165.163 [DAT](INFO): DAT read: 20:12:47.5629 LVL= 21664, 28369, 32754, 32755, AGC= 56, IDX= 496, 0.18, 0.106,-1.601, 0.277, 0.156, PHS= 0.051,-1.713, 0.077, RAW= 150.7, 17.5, CAL= 151.3, 19.7, ROT= 358.7, -19.7
2025-09-20T20:12:45.164Z,1758399165.164 [DAT](INFO): got valid direction response:
20:12:47.5629 LVL= 21664, 28369, 32754, 32755, AGC= 56, IDX= 496, 0.18, 0.106,-1.601, 0.277, 0.156, PHS= 0.051,-1.713, 0.077, RAW= 150.7, 17.5, CAL= 151.3, 19.7, ROT= 358.7, -19.7
2025-09-20T20:12:45.165Z,1758399165.165 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-09-20T20:12:45.165Z,1758399165.165 [DAT](INFO): direction in FSK: [0.941228,-0.021359,0.337095]
2025-09-20T20:12:45.166Z,1758399165.166 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:45.169Z,1758399165.169 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.509892
2025-09-20T20:12:45.335Z,1758399165.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.497613 s,
deltaX: -0.400001 m,
approachRate: -0.803839 m/s,
rangeRepo size: 4
2025-09-20T20:12:45.337Z,1758399165.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.733700 m,
bearing: 226.523723 deg,
lat: 36.779268 deg,
lon: -121.859584 deg,
deltaT: 0.497613 s,
deltaX: -0.398281 m,
approachRate: -0.800383 m/s,
posRepo size: 4
2025-09-20T20:12:45.338Z,1758399165.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m.
2025-09-20T20:12:45.341Z,1758399165.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.733700 m,
nav range: 15.334930 m,
bearing: 221.214918 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.769468 deg/s,
cmd heading: 213.237850 deg,
new cmd heading: 212.511436 deg.
2025-09-20T20:12:45.342Z,1758399165.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.709024 target range: 15.733700 and range: 15.80 m.
2025-09-20T20:12:45.396Z,1758399165.396 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.736567
2025-09-20T20:12:45.654Z,1758399165.654 [DAT](INFO): DAT read: Rx Time:20:12:48.0627
2025-09-20T20:12:45.656Z,1758399165.656 [DAT](INFO): Rx dataTimestamp_ set to:1758399165.655486
2025-09-20T20:12:45.657Z,1758399165.657 [DAT](INFO): DAT read: Bearing 36.3, -4.9 (Local)
2025-09-20T20:12:45.657Z,1758399165.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 36.3, -4.9 (Local)
2025-09-20T20:12:45.659Z,1758399165.659 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.5
2025-09-20T20:12:45.670Z,1758399165.670 [DAT](INFO): DAT read: 20:12:48.0627 LVL= 19744, 25809, 26914, 32691, AGC= 54, IDX= 510, 0.39,-1.610, 2.971,-1.519,-1.565, PHS= 0.057,-1.702, 0.002, RAW= 148.4, 18.5, CAL= 149.1, 21.3, ROT= 0.9, -21.3
2025-09-20T20:12:45.672Z,1758399165.672 [DAT](INFO): got valid direction response:
20:12:48.0627 LVL= 19744, 25809, 26914, 32691, AGC= 54, IDX= 510, 0.39,-1.610, 2.971,-1.519,-1.565, PHS= 0.057,-1.702, 0.002, RAW= 148.4, 18.5, CAL= 149.1, 21.3, ROT= 0.9, -21.3
2025-09-20T20:12:45.673Z,1758399165.673 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-09-20T20:12:45.674Z,1758399165.674 [DAT](INFO): direction in FSK: [0.931576,0.014634,0.363251]
2025-09-20T20:12:45.674Z,1758399165.674 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:45.719Z,1758399165.719 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.019194
2025-09-20T20:12:45.863Z,1758399165.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 0.506163 s,
deltaX: -0.300000 m,
approachRate: -0.592695 m/s,
rangeRepo size: 4
2025-09-20T20:12:45.869Z,1758399165.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.434958 m,
bearing: 227.706557 deg,
lat: 36.779274 deg,
lon: -121.859591 deg,
deltaT: 0.506163 s,
deltaX: -0.298741 m,
approachRate: -0.590208 m/s,
posRepo size: 4
2025-09-20T20:12:45.869Z,1758399165.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.43 m.
2025-09-20T20:12:45.876Z,1758399165.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.434958 m,
nav range: 14.977530 m,
bearing: 224.613604 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.769468 deg/s,
cmd heading: 212.511432 deg,
new cmd heading: 211.699367 deg.
2025-09-20T20:12:45.877Z,1758399165.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.694851 target range: 15.434958 and range: 15.50 m.
2025-09-20T20:12:45.900Z,1758399165.900 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.240585
2025-09-20T20:12:46.155Z,1758399166.155 [DAT](INFO): DAT read: Rx Time:20:12:48.5625
2025-09-20T20:12:46.155Z,1758399166.155 [DAT](INFO): Rx dataTimestamp_ set to:1758399166.154964
2025-09-20T20:12:46.157Z,1758399166.157 [DAT](INFO): DAT read: Bearing 38.9, -3.6 (Local)
2025-09-20T20:12:46.157Z,1758399166.157 [DAT](INFO): Local bearing/azimuth received:
Bearing 38.9, -3.6 (Local)
2025-09-20T20:12:46.159Z,1758399166.159 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.5
2025-09-20T20:12:46.164Z,1758399166.164 [DAT](INFO): DAT read: 20:12:48.5625 LVL= 19792, 25841, 29474, 32755, AGC= 55, IDX= 508,-0.33, 1.202,-0.494, 1.213, 1.255, PHS= 0.049,-1.703,-0.085, RAW= 146.0, 20.0, CAL= 147.5, 24.3, ROT= 2.5, -24.3
2025-09-20T20:12:46.165Z,1758399166.165 [DAT](INFO): got valid direction response:
20:12:48.5625 LVL= 19792, 25841, 29474, 32755, AGC= 55, IDX= 508,-0.33, 1.202,-0.494, 1.213, 1.255, PHS= 0.049,-1.703,-0.085, RAW= 146.0, 20.0, CAL= 147.5, 24.3, ROT= 2.5, -24.3
2025-09-20T20:12:46.165Z,1758399166.165 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-09-20T20:12:46.166Z,1758399166.166 [DAT](INFO): direction in FSK: [0.910536,0.039755,0.411514]
2025-09-20T20:12:46.166Z,1758399166.166 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:46.170Z,1758399166.170 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.510921
2025-09-20T20:12:46.230Z,1758399166.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.000000 m,
deltaT: 0.499478 s,
deltaX: -0.500000 m,
approachRate: -1.001045 m/s,
rangeRepo size: 4
2025-09-20T20:12:46.240Z,1758399166.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.937021 m,
bearing: 229.092360 deg,
lat: 36.779278 deg,
lon: -121.859594 deg,
deltaT: 0.499478 s,
deltaX: -0.497937 m,
approachRate: -0.996915 m/s,
posRepo size: 4
2025-09-20T20:12:46.241Z,1758399166.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.94 m.
2025-09-20T20:12:46.260Z,1758399166.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.937021 m,
nav range: 14.622128 m,
bearing: 226.304002 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.769468 deg/s,
cmd heading: 211.699364 deg,
new cmd heading: 211.133939 deg.
2025-09-20T20:12:46.261Z,1758399166.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.684982 target range: 14.937021 and range: 15.00 m.
2025-09-20T20:12:46.404Z,1758399166.404 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.744583
2025-09-20T20:12:46.657Z,1758399166.657 [DAT](INFO): DAT read: Rx Time:20:12:49.0624
2025-09-20T20:12:46.658Z,1758399166.658 [DAT](INFO): Rx dataTimestamp_ set to:1758399166.657685
2025-09-20T20:12:46.659Z,1758399166.659 [DAT](INFO): DAT read: Bearing 41.2, -3.1 (Local)
2025-09-20T20:12:46.660Z,1758399166.660 [DAT](INFO): Local bearing/azimuth received:
Bearing 41.2, -3.1 (Local)
2025-09-20T20:12:46.662Z,1758399166.662 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4
2025-09-20T20:12:46.666Z,1758399166.666 [DAT](INFO): DAT read: 20:12:49.0624 LVL= 16992, 22257, 22898, 31555, AGC= 53, IDX= 507,-0.13, 1.656, 0.014, 1.620, 1.725, PHS= 0.033,-1.666,-0.149, RAW= 144.4, 21.3, CAL= 146.7, 27.1, ROT= 3.3, -27.1
2025-09-20T20:12:46.667Z,1758399166.667 [DAT](INFO): got valid direction response:
20:12:49.0624 LVL= 16992, 22257, 22898, 31555, AGC= 53, IDX= 507,-0.13, 1.656, 0.014, 1.620, 1.725, PHS= 0.033,-1.666,-0.149, RAW= 144.4, 21.3, CAL= 146.7, 27.1, ROT= 3.3, -27.1
2025-09-20T20:12:46.668Z,1758399166.668 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-09-20T20:12:46.669Z,1758399166.669 [DAT](INFO): direction in FSK: [0.888737,0.051244,0.455545]
2025-09-20T20:12:46.669Z,1758399166.669 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:46.677Z,1758399166.677 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.017204
2025-09-20T20:12:46.692Z,1758399166.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.502721 s,
deltaX: -0.100000 m,
approachRate: -0.198918 m/s,
rangeRepo size: 4
2025-09-20T20:12:46.694Z,1758399166.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.837440 m,
bearing: 229.705331 deg,
lat: 36.779281 deg,
lon: -121.859594 deg,
deltaT: 0.502721 s,
deltaX: -0.099581 m,
approachRate: -0.198084 m/s,
posRepo size: 4
2025-09-20T20:12:46.711Z,1758399166.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.84 m.
2025-09-20T20:12:46.714Z,1758399166.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.837440 m,
nav range: 14.194383 m,
bearing: 227.202287 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.769468 deg/s,
cmd heading: 211.133933 deg,
new cmd heading: 210.429226 deg.
2025-09-20T20:12:46.721Z,1758399166.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.672683 target range: 14.837440 and range: 14.90 m.
2025-09-20T20:12:46.908Z,1758399166.908 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.248604
2025-09-20T20:12:47.076Z,1758399167.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:47.078Z,1758399167.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.84 m.
2025-09-20T20:12:47.081Z,1758399167.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.837440 m,
nav range: 13.902664 m,
bearing: 227.102402 deg,
approach rate: -0.745917 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 210.429222 deg,
new cmd heading: 210.225263 deg.
2025-09-20T20:12:47.082Z,1758399167.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.669123 target range: 14.837440 and range: 14.90 m.
2025-09-20T20:12:47.161Z,1758399167.161 [DAT](INFO): DAT read: Rx Time:20:12:49.5621
2025-09-20T20:12:47.161Z,1758399167.161 [DAT](INFO): Rx dataTimestamp_ set to:1758399167.160778
2025-09-20T20:12:47.162Z,1758399167.162 [DAT](INFO): DAT read: Bearing 42.0, -1.7 (Local)
2025-09-20T20:12:47.163Z,1758399167.163 [DAT](INFO): Local bearing/azimuth received:
Bearing 42.0, -1.7 (Local)
2025-09-20T20:12:47.165Z,1758399167.165 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5
2025-09-20T20:12:47.169Z,1758399167.169 [DAT](INFO): DAT read: 20:12:49.5621 LVL= 15952, 20401, 19954, 32755, AGC= 53, IDX= 504, 0.02, 0.733,-0.855, 0.644, 0.794, PHS= 0.041,-1.604,-0.195, RAW= 142.4, 22.0, CAL= 145.0, 28.3, ROT= 5.0, -28.3
2025-09-20T20:12:47.170Z,1758399167.170 [DAT](INFO): got valid direction response:
20:12:49.5621 LVL= 15952, 20401, 19954, 32755, AGC= 53, IDX= 504, 0.02, 0.733,-0.855, 0.644, 0.794, PHS= 0.041,-1.604,-0.195, RAW= 142.4, 22.0, CAL= 145.0, 28.3, ROT= 5.0, -28.3
2025-09-20T20:12:47.171Z,1758399167.171 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-09-20T20:12:47.172Z,1758399167.172 [DAT](INFO): direction in FSK: [0.877127,0.076739,0.474088]
2025-09-20T20:12:47.172Z,1758399167.172 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:47.176Z,1758399167.176 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.516010
2025-09-20T20:12:47.413Z,1758399167.413 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.753672
2025-09-20T20:12:47.508Z,1758399167.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.503093 s,
deltaX: -0.500000 m,
approachRate: -0.993852 m/s,
rangeRepo size: 4
2025-09-20T20:12:47.510Z,1758399167.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.339569 m,
bearing: 231.051483 deg,
lat: 36.779286 deg,
lon: -121.859595 deg,
deltaT: 0.503093 s,
deltaX: -0.497871 m,
approachRate: -0.989621 m/s,
posRepo size: 4
2025-09-20T20:12:47.510Z,1758399167.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.34 m.
2025-09-20T20:12:47.529Z,1758399167.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.339569 m,
nav range: 13.259087 m,
bearing: 229.002799 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 210.225259 deg,
new cmd heading: 210.001881 deg.
2025-09-20T20:12:47.530Z,1758399167.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.665224 target range: 14.339569 and range: 14.40 m.
2025-09-20T20:12:47.670Z,1758399167.670 [DAT](INFO): DAT read: Rx Time:20:12:50.0621
2025-09-20T20:12:47.672Z,1758399167.672 [DAT](INFO): Rx dataTimestamp_ set to:1758399167.670430
2025-09-20T20:12:47.675Z,1758399167.675 [DAT](INFO): DAT read: Bearing 40.8, 1.4 (Local)
2025-09-20T20:12:47.676Z,1758399167.676 [DAT](INFO): Local bearing/azimuth received:
Bearing 40.8, 1.4 (Local)
2025-09-20T20:12:47.682Z,1758399167.682 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4
2025-09-20T20:12:47.690Z,1758399167.690 [DAT](INFO): DAT read: 20:12:50.0621 LVL= 15120, 20017, 17426, 31283, AGC= 53, IDX= 503, 0.17, 2.591, 1.022, 2.428, 2.613, PHS= 0.080,-1.545,-0.228, RAW= 139.7, 21.8, CAL= 141.7, 27.4, ROT= 8.3, -27.4
2025-09-20T20:12:47.693Z,1758399167.693 [DAT](INFO): got valid direction response:
20:12:50.0621 LVL= 15120, 20017, 17426, 31283, AGC= 53, IDX= 503, 0.17, 2.591, 1.022, 2.428, 2.613, PHS= 0.080,-1.545,-0.228, RAW= 139.7, 21.8, CAL= 141.7, 27.4, ROT= 8.3, -27.4
2025-09-20T20:12:47.695Z,1758399167.695 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-09-20T20:12:47.696Z,1758399167.696 [DAT](INFO): direction in FSK: [0.878516,0.128162,0.460200]
2025-09-20T20:12:47.696Z,1758399167.696 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:47.700Z,1758399167.700 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.040533
2025-09-20T20:12:47.931Z,1758399167.931 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.271002
2025-09-20T20:12:48.030Z,1758399168.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.509652 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:48.033Z,1758399168.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.339741 m,
bearing: 234.144537 deg,
lat: 36.779288 deg,
lon: -121.859596 deg,
deltaT: 0.509652 s,
deltaX: 0.000172 m,
approachRate: 0.000337 m/s,
posRepo size: 4
2025-09-20T20:12:48.033Z,1758399168.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.34 m.
2025-09-20T20:12:48.060Z,1758399168.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.339741 m,
nav range: 12.895411 m,
bearing: 229.817065 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 210.001884 deg,
new cmd heading: 209.729064 deg.
2025-09-20T20:12:48.061Z,1758399168.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.660463 target range: 14.339741 and range: 14.40 m.
2025-09-20T20:12:48.185Z,1758399168.185 [DAT](INFO): DAT read: Rx Time:20:12:50.5618
2025-09-20T20:12:48.185Z,1758399168.185 [DAT](INFO): Rx dataTimestamp_ set to:1758399168.185046
2025-09-20T20:12:48.187Z,1758399168.187 [DAT](INFO): DAT read: Bearing 39.0, 5.7 (Local)
2025-09-20T20:12:48.187Z,1758399168.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.0, 5.7 (Local)
2025-09-20T20:12:48.189Z,1758399168.189 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.4
2025-09-20T20:12:48.194Z,1758399168.194 [DAT](INFO): DAT read: 20:12:50.5618 LVL= 14544, 19505, 16274, 27347, AGC= 54, IDX= 500, 0.33, 1.886, 0.304, 1.625, 1.849, PHS= 0.140,-1.500,-0.267, RAW= 136.2, 21.3, CAL= 137.1, 25.6, ROT= 12.9, -25.6
2025-09-20T20:12:48.195Z,1758399168.195 [DAT](INFO): got valid direction response:
20:12:50.5618 LVL= 14544, 19505, 16274, 27347, AGC= 54, IDX= 500, 0.33, 1.886, 0.304, 1.625, 1.849, PHS= 0.140,-1.500,-0.267, RAW= 136.2, 21.3, CAL= 137.1, 25.6, ROT= 12.9, -25.6
2025-09-20T20:12:48.195Z,1758399168.195 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-09-20T20:12:48.196Z,1758399168.196 [DAT](INFO): direction in FSK: [0.879071,0.201334,0.432086]
2025-09-20T20:12:48.197Z,1758399168.197 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:48.200Z,1758399168.200 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.540716
2025-09-20T20:12:48.416Z,1758399168.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.000000 m,
deltaT: 0.514616 s,
deltaX: -0.400000 m,
approachRate: -0.777278 m/s,
rangeRepo size: 4
2025-09-20T20:12:48.421Z,1758399168.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.941415 m,
bearing: 236.724352 deg,
lat: 36.779290 deg,
lon: -121.859597 deg,
deltaT: 0.514616 s,
deltaX: -0.398326 m,
approachRate: -0.774025 m/s,
posRepo size: 4
2025-09-20T20:12:48.423Z,1758399168.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.94 m.
2025-09-20T20:12:48.428Z,1758399168.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.941415 m,
nav range: 12.565950 m,
bearing: 230.986911 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 209.729059 deg,
new cmd heading: 209.528356 deg.
2025-09-20T20:12:48.429Z,1758399168.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.656960 target range: 13.941415 and range: 14.00 m.
2025-09-20T20:12:48.437Z,1758399168.437 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.776854
2025-09-20T20:12:48.689Z,1758399168.689 [DAT](INFO): DAT read: Rx Time:20:12:51.0617
2025-09-20T20:12:48.690Z,1758399168.690 [DAT](INFO): Rx dataTimestamp_ set to:1758399168.689745
2025-09-20T20:12:48.692Z,1758399168.692 [DAT](INFO): DAT read: Bearing 34.9, 13.3 (Local)
2025-09-20T20:12:48.693Z,1758399168.693 [DAT](INFO): Local bearing/azimuth received:
Bearing 34.9, 13.3 (Local)
2025-09-20T20:12:48.696Z,1758399168.696 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4
2025-09-20T20:12:48.702Z,1758399168.702 [DAT](INFO): DAT read: 20:12:51.0617 LVL= 16352, 22433, 16082, 28707, AGC= 56, IDX= 500,-0.37, 2.074, 0.431, 1.653, 1.919, PHS= 0.258,-1.443,-0.309, RAW= 130.9, 19.4, CAL= 129.6, 20.9, ROT= 20.4, -20.9
2025-09-20T20:12:48.703Z,1758399168.703 [DAT](INFO): got valid direction response:
20:12:51.0617 LVL= 16352, 22433, 16082, 28707, AGC= 56, IDX= 500,-0.37, 2.074, 0.431, 1.653, 1.919, PHS= 0.258,-1.443,-0.309, RAW= 130.9, 19.4, CAL= 129.6, 20.9, ROT= 20.4, -20.9
2025-09-20T20:12:48.703Z,1758399168.703 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-09-20T20:12:48.704Z,1758399168.704 [DAT](INFO): direction in FSK: [0.875613,0.325638,0.356738]
2025-09-20T20:12:48.705Z,1758399168.705 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:48.728Z,1758399168.728 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.067036
2025-09-20T20:12:48.895Z,1758399168.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.504699 s,
deltaX: -0.200000 m,
approachRate: -0.396275 m/s,
rangeRepo size: 4
2025-09-20T20:12:48.901Z,1758399168.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.742252 m,
bearing: 243.256448 deg,
lat: 36.779293 deg,
lon: -121.859606 deg,
deltaT: 0.504699 s,
deltaX: -0.199162 m,
approachRate: -0.394616 m/s,
posRepo size: 4
2025-09-20T20:12:48.902Z,1758399168.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.74 m.
2025-09-20T20:12:48.909Z,1758399168.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.742252 m,
nav range: 12.725618 m,
bearing: 234.246833 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 209.528361 deg,
new cmd heading: 209.278375 deg.
2025-09-20T20:12:48.910Z,1758399168.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.652597 target range: 13.742252 and range: 13.80 m.
2025-09-20T20:12:48.941Z,1758399168.941 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.281883
2025-09-20T20:12:49.192Z,1758399169.192 [DAT](INFO): DAT read: Rx Time:20:12:51.5614
2025-09-20T20:12:49.193Z,1758399169.193 [DAT](INFO): Rx dataTimestamp_ set to:1758399169.192569
2025-09-20T20:12:49.194Z,1758399169.194 [DAT](INFO): DAT read: Bearing 30.7, 20.0 (Local)
2025-09-20T20:12:49.194Z,1758399169.194 [DAT](INFO): Local bearing/azimuth received:
Bearing 30.7, 20.0 (Local)
2025-09-20T20:12:49.197Z,1758399169.197 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.4
2025-09-20T20:12:49.201Z,1758399169.201 [DAT](INFO): DAT read: 20:12:51.5614 LVL= 16688, 20977, 16834, 29299, AGC= 57, IDX= 497,-0.15, 2.609, 0.777, 1.901, 2.209, PHS= 0.502,-1.388,-0.352, RAW= 123.2, 15.0, CAL= 123.3, 16.2, ROT= 26.7, -16.2
2025-09-20T20:12:49.202Z,1758399169.202 [DAT](INFO): got valid direction response:
20:12:51.5614 LVL= 16688, 20977, 16834, 29299, AGC= 57, IDX= 497,-0.15, 2.609, 0.777, 1.901, 2.209, PHS= 0.502,-1.388,-0.352, RAW= 123.2, 15.0, CAL= 123.3, 16.2, ROT= 26.7, -16.2
2025-09-20T20:12:49.202Z,1758399169.202 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-09-20T20:12:49.203Z,1758399169.203 [DAT](INFO): direction in FSK: [0.857899,0.431478,0.278991]
2025-09-20T20:12:49.204Z,1758399169.204 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:49.207Z,1758399169.207 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.547787
2025-09-20T20:12:49.288Z,1758399169.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.400000 m,
deltaT: 0.502824 s,
deltaX: -0.400001 m,
approachRate: -0.795508 m/s,
rangeRepo size: 4
2025-09-20T20:12:49.290Z,1758399169.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.344331 m,
bearing: 249.153881 deg,
lat: 36.779297 deg,
lon: -121.859610 deg,
deltaT: 0.502824 s,
deltaX: -0.397922 m,
approachRate: -0.791373 m/s,
posRepo size: 4
2025-09-20T20:12:49.290Z,1758399169.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.34 m.
2025-09-20T20:12:49.298Z,1758399169.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.344331 m,
nav range: 12.536748 m,
bearing: 236.928567 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 209.278376 deg,
new cmd heading: 209.075581 deg.
2025-09-20T20:12:49.303Z,1758399169.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.649057 target range: 13.344331 and range: 13.40 m.
2025-09-20T20:12:49.446Z,1758399169.446 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.785786
2025-09-20T20:12:49.700Z,1758399169.700 [DAT](INFO): DAT read: Rx Time:20:12:52.0613
2025-09-20T20:12:49.702Z,1758399169.702 [DAT](INFO): Rx dataTimestamp_ set to:1758399169.701041
2025-09-20T20:12:49.710Z,1758399169.710 [DAT](INFO): DAT read: Bearing 23.3, 28.6 (Local)
2025-09-20T20:12:49.715Z,1758399169.715 [DAT](INFO): Local bearing/azimuth received:
Bearing 23.3, 28.6 (Local)
2025-09-20T20:12:49.718Z,1758399169.718 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4
2025-09-20T20:12:49.730Z,1758399169.730 [DAT](INFO): DAT read: 20:12:52.0613 LVL= 14448, 21105, 16050, 25555, AGC= 57, IDX= 511, 0.08,-1.138, 2.946,-2.307,-1.988, PHS= 0.951,-1.304,-0.363, RAW= 114.5, 7.4, CAL= 115.9, 8.4, ROT= 34.1, -8.4
2025-09-20T20:12:49.731Z,1758399169.731 [DAT](INFO): got valid direction response:
20:12:52.0613 LVL= 14448, 21105, 16050, 25555, AGC= 57, IDX= 511, 0.08,-1.138, 2.946,-2.307,-1.988, PHS= 0.951,-1.304,-0.363, RAW= 114.5, 7.4, CAL= 115.9, 8.4, ROT= 34.1, -8.4
2025-09-20T20:12:49.759Z,1758399169.759 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-09-20T20:12:49.760Z,1758399169.760 [DAT](INFO): direction in FSK: [0.819177,0.554625,0.146083]
2025-09-20T20:12:49.760Z,1758399169.760 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:49.774Z,1758399169.774 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.114410
2025-09-20T20:12:49.791Z,1758399169.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.508472 s,
deltaX: -0.200000 m,
approachRate: -0.393335 m/s,
rangeRepo size: 4
2025-09-20T20:12:49.794Z,1758399169.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.145162 m,
bearing: 255.199278 deg,
lat: 36.779306 deg,
lon: -121.859623 deg,
deltaT: 0.508472 s,
deltaX: -0.199169 m,
approachRate: -0.391701 m/s,
posRepo size: 4
2025-09-20T20:12:49.800Z,1758399169.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:49.803Z,1758399169.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 12.723191 m,
bearing: 243.753309 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.260760 deg/s,
cmd heading: 209.075588 deg,
new cmd heading: 208.813343 deg.
2025-09-20T20:12:49.804Z,1758399169.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.644480 target range: 13.145162 and range: 13.20 m.
2025-09-20T20:12:49.948Z,1758399169.948 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.288616
2025-09-20T20:12:50.153Z,1758399170.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:50.171Z,1758399170.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:50.174Z,1758399170.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 12.490546 m,
bearing: 244.030835 deg,
approach rate: -0.630129 m/s,
LOS rate: 0.765688 deg/s,
cmd heading: 208.813349 deg,
new cmd heading: 209.378718 deg.
2025-09-20T20:12:50.179Z,1758399170.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.654348 target range: 13.145162 and range: 13.20 m.
2025-09-20T20:12:50.200Z,1758399170.200 [DAT](INFO): DAT read: Rx Time:20:12:52.5610
2025-09-20T20:12:50.201Z,1758399170.201 [DAT](INFO): Rx dataTimestamp_ set to:1758399170.200442
2025-09-20T20:12:50.202Z,1758399170.202 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4
2025-09-20T20:12:50.202Z,1758399170.202 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-09-20T20:12:50.204Z,1758399170.204 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.543980
2025-09-20T20:12:50.452Z,1758399170.452 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.792484
2025-09-20T20:12:50.539Z,1758399170.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.499401 s,
deltaX: -0.400000 m,
approachRate: -0.800959 m/s,
rangeRepo size: 4
2025-09-20T20:12:50.540Z,1758399170.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:50.543Z,1758399170.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 12.278954 m,
bearing: 244.300973 deg,
approach rate: -0.551675 m/s,
LOS rate: 0.716453 deg/s,
cmd heading: 209.378711 deg,
new cmd heading: 209.928280 deg.
2025-09-20T20:12:50.544Z,1758399170.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.663940 target range: 13.145162 and range: 12.80 m.
2025-09-20T20:12:50.710Z,1758399170.710 [DAT](INFO): DAT read: Rx Time:20:12:53.0610
2025-09-20T20:12:50.712Z,1758399170.712 [DAT](INFO): Rx dataTimestamp_ set to:1758399170.710654
2025-09-20T20:12:50.728Z,1758399170.728 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4
2025-09-20T20:12:50.729Z,1758399170.729 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-09-20T20:12:50.730Z,1758399170.730 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.070118
2025-09-20T20:12:50.956Z,1758399170.956 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.296547
2025-09-20T20:12:50.993Z,1758399170.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.510212 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:50.994Z,1758399170.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:50.997Z,1758399170.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 12.011325 m,
bearing: 244.654529 deg,
approach rate: -0.589753 m/s,
LOS rate: 0.796459 deg/s,
cmd heading: 209.928282 deg,
new cmd heading: 210.651107 deg.
2025-09-20T20:12:50.998Z,1758399170.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.676555 target range: 13.145162 and range: 12.80 m.
2025-09-20T20:12:51.208Z,1758399171.208 [DAT](INFO): DAT read: Rx Time:20:12:53.5607
2025-09-20T20:12:51.209Z,1758399171.209 [DAT](INFO): Rx dataTimestamp_ set to:1758399171.208378
2025-09-20T20:12:51.210Z,1758399171.210 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4
2025-09-20T20:12:51.210Z,1758399171.210 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-09-20T20:12:51.211Z,1758399171.211 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.551929
2025-09-20T20:12:51.346Z,1758399171.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.497724 s,
deltaX: -0.300000 m,
approachRate: -0.602744 m/s,
rangeRepo size: 4
2025-09-20T20:12:51.347Z,1758399171.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:51.350Z,1758399171.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 11.808831 m,
bearing: 244.941205 deg,
approach rate: -0.572885 m/s,
LOS rate: 0.824952 deg/s,
cmd heading: 210.651107 deg,
new cmd heading: 211.234267 deg.
2025-09-20T20:12:51.351Z,1758399171.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.686733 target range: 13.145162 and range: 12.50 m.
2025-09-20T20:12:51.460Z,1758399171.460 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.800575
2025-09-20T20:12:51.719Z,1758399171.719 [DAT](INFO): DAT read: Rx Time:20:12:54.0607
2025-09-20T20:12:51.721Z,1758399171.721 [DAT](INFO): Rx dataTimestamp_ set to:1758399171.719822
2025-09-20T20:12:51.725Z,1758399171.725 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4
2025-09-20T20:12:51.730Z,1758399171.730 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-09-20T20:12:51.733Z,1758399171.733 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.073318
2025-09-20T20:12:51.850Z,1758399171.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.511444 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:51.867Z,1758399171.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:51.870Z,1758399171.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 11.521327 m,
bearing: 245.356702 deg,
approach rate: -0.570606 m/s,
LOS rate: 0.845202 deg/s,
cmd heading: 211.234269 deg,
new cmd heading: 212.085930 deg.
2025-09-20T20:12:51.875Z,1758399171.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.701598 target range: 13.145162 and range: 12.50 m.
2025-09-20T20:12:51.968Z,1758399171.968 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.308655
2025-09-20T20:12:52.158Z,1758399172.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:52.161Z,1758399172.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:52.164Z,1758399172.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 11.344709 m,
bearing: 245.622859 deg,
approach rate: -0.567864 m/s,
LOS rate: 0.869071 deg/s,
cmd heading: 212.085925 deg,
new cmd heading: 212.626508 deg.
2025-09-20T20:12:52.165Z,1758399172.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.711033 target range: 13.145162 and range: 12.50 m.
2025-09-20T20:12:52.221Z,1758399172.221 [DAT](INFO): DAT read: Rx Time:20:12:54.5604
2025-09-20T20:12:52.222Z,1758399172.222 [DAT](INFO): Rx dataTimestamp_ set to:1758399172.221452
2025-09-20T20:12:52.223Z,1758399172.223 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4
2025-09-20T20:12:52.224Z,1758399172.224 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-09-20T20:12:52.225Z,1758399172.225 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.565010
2025-09-20T20:12:52.472Z,1758399172.472 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.812439
2025-09-20T20:12:52.554Z,1758399172.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.501630 s,
deltaX: -0.500000 m,
approachRate: -0.996751 m/s,
rangeRepo size: 4
2025-09-20T20:12:52.555Z,1758399172.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.15 m.
2025-09-20T20:12:52.557Z,1758399172.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.145162 m,
nav range: 11.122843 m,
bearing: 245.995081 deg,
approach rate: -0.564976 m/s,
LOS rate: 0.966750 deg/s,
cmd heading: 212.626507 deg,
new cmd heading: 213.385751 deg.
2025-09-20T20:12:52.558Z,1758399172.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.724284 target range: 13.145162 and range: 12.00 m.
2025-09-20T20:12:52.730Z,1758399172.730 [DAT](INFO): DAT read: Rx Time:20:12:55.0604
2025-09-20T20:12:52.733Z,1758399172.733 [DAT](INFO): Rx dataTimestamp_ set to:1758399172.731479
2025-09-20T20:12:52.737Z,1758399172.737 [DAT](INFO): DAT read: Bearing 75.3, -38.9 (Local)
2025-09-20T20:12:52.738Z,1758399172.738 [DAT](INFO): Local bearing/azimuth received:
Bearing 75.3, -38.9 (Local)
2025-09-20T20:12:52.756Z,1758399172.756 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4
2025-09-20T20:12:52.766Z,1758399172.766 [DAT](INFO): DAT read: 20:12:55.0604 LVL= 31520, 17617, 16946, 21347, AGC= 56, IDX= 504,-0.33, 2.665, 2.756,-1.913,-1.780, PHS=-1.736,-1.703,-0.177, RAW= 211.1, 39.6, CAL= 208.5, 50.1, ROT= 301.5, -50.1
2025-09-20T20:12:52.773Z,1758399172.773 [DAT](INFO): got valid direction response:
20:12:55.0604 LVL= 31520, 17617, 16946, 21347, AGC= 56, IDX= 504,-0.33, 2.665, 2.756,-1.913,-1.780, PHS=-1.736,-1.703,-0.177, RAW= 211.1, 39.6, CAL= 208.5, 50.1, ROT= 301.5, -50.1
2025-09-20T20:12:52.774Z,1758399172.774 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-09-20T20:12:52.796Z,1758399172.796 [DAT](INFO): direction in FSK: [0.335157,-0.546926,0.767165]
2025-09-20T20:12:52.797Z,1758399172.797 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:52.805Z,1758399172.805 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.145512
2025-09-20T20:12:52.976Z,1758399172.976 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.316456
2025-09-20T20:12:53.047Z,1758399173.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.000000 m,
deltaT: 0.510027 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:53.053Z,1758399173.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.950522 m,
bearing: 166.256213 deg,
lat: 36.779306 deg,
lon: -121.859623 deg,
deltaT: 3.030438 s,
deltaX: -1.194639 m,
approachRate: -0.394213 m/s,
posRepo size: 4
2025-09-20T20:12:53.054Z,1758399173.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.95 m.
2025-09-20T20:12:53.060Z,1758399173.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.950522 m,
nav range: 10.856814 m,
bearing: 246.497235 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.966750 deg/s,
cmd heading: 213.385751 deg,
new cmd heading: 214.338220 deg.
2025-09-20T20:12:53.061Z,1758399173.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.740908 target range: 11.950522 and range: 12.00 m.
2025-09-20T20:12:53.229Z,1758399173.229 [DAT](INFO): DAT read: Rx Time:20:12:55.5601
2025-09-20T20:12:53.229Z,1758399173.229 [DAT](INFO): Rx dataTimestamp_ set to:1758399173.228743
2025-09-20T20:12:53.230Z,1758399173.230 [DAT](INFO): DAT read: Bearing 72.8, -44.7 (Local)
2025-09-20T20:12:53.231Z,1758399173.231 [DAT](INFO): Local bearing/azimuth received:
Bearing 72.8, -44.7 (Local)
2025-09-20T20:12:53.233Z,1758399173.233 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4
2025-09-20T20:12:53.237Z,1758399173.237 [DAT](INFO): DAT read: 20:12:55.5601 LVL= 32592, 17233, 20322, 24227, AGC= 53, IDX= 501, 0.13,-3.114,-2.906,-1.140,-1.302, PHS=-1.710,-1.559, 0.118, RAW= 214.3, 32.4, CAL= 211.8, 44.3, ROT= 298.2, -44.3
2025-09-20T20:12:53.238Z,1758399173.238 [DAT](INFO): got valid direction response:
20:12:55.5601 LVL= 32592, 17233, 20322, 24227, AGC= 53, IDX= 501, 0.13,-3.114,-2.906,-1.140,-1.302, PHS=-1.710,-1.559, 0.118, RAW= 214.3, 32.4, CAL= 211.8, 44.3, ROT= 298.2, -44.3
2025-09-20T20:12:53.239Z,1758399173.239 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-09-20T20:12:53.240Z,1758399173.240 [DAT](INFO): direction in FSK: [0.338201,-0.630742,0.698415]
2025-09-20T20:12:53.240Z,1758399173.240 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:53.244Z,1758399173.244 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.584202
2025-09-20T20:12:53.394Z,1758399173.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.497264 s,
deltaX: -0.400000 m,
approachRate: -0.804401 m/s,
rangeRepo size: 4
2025-09-20T20:12:53.400Z,1758399173.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.552172 m,
bearing: 160.745755 deg,
lat: 36.779306 deg,
lon: -121.859623 deg,
deltaT: 0.497264 s,
deltaX: -0.398351 m,
approachRate: -0.801085 m/s,
posRepo size: 4
2025-09-20T20:12:53.400Z,1758399173.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:12:53.412Z,1758399173.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.552172 m,
nav range: 10.663207 m,
bearing: 246.891843 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.966750 deg/s,
cmd heading: 214.338221 deg,
new cmd heading: 215.008955 deg.
2025-09-20T20:12:53.414Z,1758399173.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.752614 target range: 11.552172 and range: 11.60 m.
2025-09-20T20:12:53.481Z,1758399173.481 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.821674
2025-09-20T20:12:53.735Z,1758399173.735 [DAT](INFO): DAT read: Rx Time:20:12:56.0600
2025-09-20T20:12:53.737Z,1758399173.737 [DAT](INFO): Rx dataTimestamp_ set to:1758399173.736095
2025-09-20T20:12:53.741Z,1758399173.741 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.4
2025-09-20T20:12:53.745Z,1758399173.745 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-09-20T20:12:53.749Z,1758399173.749 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.088905
2025-09-20T20:12:53.984Z,1758399173.984 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.324570
2025-09-20T20:12:53.988Z,1758399173.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.400000 m,
deltaT: 0.507352 s,
deltaX: -0.200001 m,
approachRate: -0.394205 m/s,
rangeRepo size: 4
2025-09-20T20:12:53.989Z,1758399173.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:12:53.997Z,1758399173.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.552172 m,
nav range: 10.331310 m,
bearing: 247.616331 deg,
approach rate: -0.557871 m/s,
LOS rate: 1.256846 deg/s,
cmd heading: 215.008959 deg,
new cmd heading: 216.504104 deg.
2025-09-20T20:12:53.997Z,1758399173.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.778709 target range: 11.552172 and range: 11.40 m.
2025-09-20T20:12:54.236Z,1758399174.236 [DAT](INFO): DAT read: Rx Time:20:12:56.5598
2025-09-20T20:12:54.237Z,1758399174.237 [DAT](INFO): Rx dataTimestamp_ set to:1758399174.236356
2025-09-20T20:12:54.238Z,1758399174.238 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4
2025-09-20T20:12:54.238Z,1758399174.238 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-09-20T20:12:54.239Z,1758399174.239 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.579903
2025-09-20T20:12:54.338Z,1758399174.338 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:54.345Z,1758399174.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.500261 s,
deltaX: -0.299999 m,
approachRate: -0.599685 m/s,
rangeRepo size: 4
2025-09-20T20:12:54.346Z,1758399174.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:12:54.353Z,1758399174.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.552172 m,
nav range: 10.141375 m,
bearing: 248.058066 deg,
approach rate: -0.532694 m/s,
LOS rate: 1.262080 deg/s,
cmd heading: 216.504101 deg,
new cmd heading: 217.404034 deg.
2025-09-20T20:12:54.354Z,1758399174.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.794416 target range: 11.552172 and range: 11.10 m.
2025-09-20T20:12:54.488Z,1758399174.488 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.828445
2025-09-20T20:12:54.744Z,1758399174.744 [DAT](INFO): DAT read: Rx Time:20:12:57.0597
2025-09-20T20:12:54.746Z,1758399174.746 [DAT](INFO): Rx dataTimestamp_ set to:1758399174.744687
2025-09-20T20:12:54.749Z,1758399174.750 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4
2025-09-20T20:12:54.752Z,1758399174.752 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-09-20T20:12:54.768Z,1758399174.768 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.095196
2025-09-20T20:12:54.886Z,1758399174.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.000000 m,
deltaT: 0.508331 s,
deltaX: -0.100000 m,
approachRate: -0.196723 m/s,
rangeRepo size: 4
2025-09-20T20:12:54.887Z,1758399174.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:12:54.890Z,1758399174.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.552172 m,
nav range: 9.839154 m,
bearing: 248.758686 deg,
approach rate: -0.558181 m/s,
LOS rate: 1.333713 deg/s,
cmd heading: 217.404033 deg,
new cmd heading: 218.847973 deg.
2025-09-20T20:12:54.899Z,1758399174.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.819618 target range: 11.552172 and range: 11.00 m.
2025-09-20T20:12:54.993Z,1758399174.993 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.333733
2025-09-20T20:12:55.231Z,1758399175.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:12:55.234Z,1758399175.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.552172 m,
nav range: 9.649940 m,
bearing: 249.221807 deg,
approach rate: -0.574628 m/s,
LOS rate: 1.434018 deg/s,
cmd heading: 218.847976 deg,
new cmd heading: 219.792283 deg.
2025-09-20T20:12:55.244Z,1758399175.244 [DAT](INFO): DAT read: Rx Time:20:12:57.5595
2025-09-20T20:12:55.245Z,1758399175.245 [DAT](INFO): Rx dataTimestamp_ set to:1758399175.244455
2025-09-20T20:12:55.246Z,1758399175.246 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4
2025-09-20T20:12:55.247Z,1758399175.247 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-09-20T20:12:55.248Z,1758399175.248 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.588001
2025-09-20T20:12:55.248Z,1758399175.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.836099 target range: 11.552172 and range: 11.00 m.
2025-09-20T20:12:55.496Z,1758399175.496 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.836491
2025-09-20T20:12:55.673Z,1758399175.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.499768 s,
deltaX: -0.300000 m,
approachRate: -0.600279 m/s,
rangeRepo size: 4
2025-09-20T20:12:55.673Z,1758399175.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:12:55.677Z,1758399175.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.552172 m,
nav range: 9.398246 m,
bearing: 249.868343 deg,
approach rate: -0.550865 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 219.792277 deg,
new cmd heading: 221.119715 deg.
2025-09-20T20:12:55.678Z,1758399175.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.859267 target range: 11.552172 and range: 10.70 m.
2025-09-20T20:12:55.753Z,1758399175.753 [DAT](INFO): DAT read: Rx Time:20:12:58.0595
2025-09-20T20:12:55.754Z,1758399175.754 [DAT](INFO): Rx dataTimestamp_ set to:1758399175.753227
2025-09-20T20:12:55.759Z,1758399175.759 [DAT](INFO): DAT read: Bearing 181.4, -19.5 (Local)
2025-09-20T20:12:55.760Z,1758399175.760 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.4, -19.5 (Local)
2025-09-20T20:12:55.770Z,1758399175.770 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4
2025-09-20T20:12:55.813Z,1758399175.813 [DAT](INFO): DAT read: 20:12:58.0595 LVL= 20448, 6641, 22066, 21715, AGC= 49, IDX= 511,-0.12,-1.816, 0.525,-0.843,-0.472, PHS=-1.242, 1.042,-0.415, RAW= 309.1, 6.2, CAL= 306.8, 5.3, ROT= 203.2, -5.3
2025-09-20T20:12:55.814Z,1758399175.814 [DAT](INFO): got valid direction response:
20:12:58.0595 LVL= 20448, 6641, 22066, 21715, AGC= 49, IDX= 511,-0.12,-1.816, 0.525,-0.843,-0.472, PHS=-1.242, 1.042,-0.415, RAW= 309.1, 6.2, CAL= 306.8, 5.3, ROT= 203.2, -5.3
2025-09-20T20:12:55.814Z,1758399175.814 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-09-20T20:12:55.823Z,1758399175.823 [DAT](INFO): direction in FSK: [-0.915206,-0.392258,0.092371]
2025-09-20T20:12:55.824Z,1758399175.824 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:55.832Z,1758399175.832 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.172787
2025-09-20T20:12:55.000Z,1758399176.000 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.340343
2025-09-20T20:12:56.101Z,1758399176.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.508772 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:12:56.124Z,1758399176.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.656080 m,
bearing: 59.817120 deg,
lat: 36.779317 deg,
lon: -121.859491 deg,
deltaT: 2.524484 s,
deltaX: -0.896091 m,
approachRate: -0.354960 m/s,
posRepo size: 4
2025-09-20T20:12:56.140Z,1758399176.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.66 m.
2025-09-20T20:12:56.156Z,1758399176.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.656080 m,
nav range: 3.633523 m,
bearing: 121.868928 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 221.119711 deg,
new cmd heading: 222.342403 deg.
2025-09-20T20:12:56.157Z,1758399176.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.880607 target range: 10.656080 and range: 10.70 m.
2025-09-20T20:12:56.255Z,1758399176.255 [DAT](INFO): DAT read: Rx Time:20:12:58.5592
2025-09-20T20:12:56.255Z,1758399176.255 [DAT](INFO): Rx dataTimestamp_ set to:1758399176.254839
2025-09-20T20:12:56.256Z,1758399176.256 [DAT](INFO): DAT read: Bearing 160.4, -25.7 (Local)
2025-09-20T20:12:56.257Z,1758399176.257 [DAT](INFO): Local bearing/azimuth received:
Bearing 160.4, -25.7 (Local)
2025-09-20T20:12:56.259Z,1758399176.259 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.4
2025-09-20T20:12:56.265Z,1758399176.265 [DAT](INFO): DAT read: 20:12:58.5592 LVL= 18912, 8625, 19858, 17891, AGC= 49, IDX= 508, 0.44,-2.742,-0.741,-1.635,-1.165, PHS=-1.474, 0.469,-0.514, RAW= 300.4, 17.7, CAL= 298.8, 24.0, ROT= 211.2, -24.0
2025-09-20T20:12:56.266Z,1758399176.266 [DAT](INFO): got valid direction response:
20:12:58.5592 LVL= 18912, 8625, 19858, 17891, AGC= 49, IDX= 508, 0.44,-2.742,-0.741,-1.635,-1.165, PHS=-1.474, 0.469,-0.514, RAW= 300.4, 17.7, CAL= 298.8, 24.0, ROT= 211.2, -24.0
2025-09-20T20:12:56.273Z,1758399176.273 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-09-20T20:12:56.274Z,1758399176.274 [DAT](INFO): direction in FSK: [-0.781414,-0.473241,0.406737]
2025-09-20T20:12:56.274Z,1758399176.274 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:56.289Z,1758399176.289 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.629044
2025-09-20T20:12:56.479Z,1758399176.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.501612 s,
deltaX: -0.500000 m,
approachRate: -0.996786 m/s,
rangeRepo size: 4
2025-09-20T20:12:56.481Z,1758399176.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.158133 m,
bearing: 68.293486 deg,
lat: 36.779327 deg,
lon: -121.859483 deg,
deltaT: 0.501612 s,
deltaX: -0.497948 m,
approachRate: -0.992695 m/s,
posRepo size: 4
2025-09-20T20:12:56.482Z,1758399176.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.16 m.
2025-09-20T20:12:56.489Z,1758399176.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.158133 m,
nav range: 4.051382 m,
bearing: 98.877448 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 222.342397 deg,
new cmd heading: 223.450999 deg.
2025-09-20T20:12:56.490Z,1758399176.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.899956 target range: 10.158133 and range: 10.20 m.
2025-09-20T20:12:56.504Z,1758399176.504 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.844597
2025-09-20T20:12:56.760Z,1758399176.760 [DAT](INFO): DAT read: Rx Time:20:12:59.0591
2025-09-20T20:12:56.762Z,1758399176.762 [DAT](INFO): Rx dataTimestamp_ set to:1758399176.761081
2025-09-20T20:12:56.768Z,1758399176.768 [DAT](INFO): DAT read: Bearing 164.1, -31.0 (Local)
2025-09-20T20:12:56.769Z,1758399176.769 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.1, -31.0 (Local)
2025-09-20T20:12:56.778Z,1758399176.778 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4
2025-09-20T20:12:56.812Z,1758399176.812 [DAT](INFO): DAT read: 20:12:59.0591 LVL= 22832, 11665, 20978, 14131, AGC= 49, IDX= 507, 0.28,-0.845, 1.208, 0.404, 0.669, PHS=-1.412, 0.583,-0.309, RAW= 296.5, 13.1, CAL= 293.7, 19.7, ROT= 216.3, -19.7
2025-09-20T20:12:56.813Z,1758399176.813 [DAT](INFO): got valid direction response:
20:12:59.0591 LVL= 22832, 11665, 20978, 14131, AGC= 49, IDX= 507, 0.28,-0.845, 1.208, 0.404, 0.669, PHS=-1.412, 0.583,-0.309, RAW= 296.5, 13.1, CAL= 293.7, 19.7, ROT= 216.3, -19.7
2025-09-20T20:12:56.813Z,1758399176.813 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-09-20T20:12:56.814Z,1758399176.814 [DAT](INFO): direction in FSK: [-0.758758,-0.557363,0.337095]
2025-09-20T20:12:56.814Z,1758399176.814 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:56.830Z,1758399176.830 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.170612
2025-09-20T20:12:57.008Z,1758399177.008 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.348583
2025-09-20T20:12:57.009Z,1758399177.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.506242 s,
deltaX: -0.099999 m,
approachRate: -0.197533 m/s,
rangeRepo size: 4
2025-09-20T20:12:57.016Z,1758399177.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.058675 m,
bearing: 73.757095 deg,
lat: 36.779354 deg,
lon: -121.859434 deg,
deltaT: 0.506242 s,
deltaX: -0.099458 m,
approachRate: -0.196463 m/s,
posRepo size: 4
2025-09-20T20:12:57.016Z,1758399177.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.06 m.
2025-09-20T20:12:57.023Z,1758399177.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.058675 m,
nav range: 8.989007 m,
bearing: 73.251959 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 223.451005 deg,
new cmd heading: 224.997959 deg.
2025-09-20T20:12:57.024Z,1758399177.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.926955 target range: 10.058675 and range: 10.10 m.
2025-09-20T20:12:57.261Z,1758399177.261 [DAT](INFO): DAT read: Rx Time:20:12:59.5588
2025-09-20T20:12:57.261Z,1758399177.261 [DAT](INFO): Rx dataTimestamp_ set to:1758399177.260751
2025-09-20T20:12:57.262Z,1758399177.262 [DAT](INFO): DAT read: Bearing 166.5, -37.5 (Local)
2025-09-20T20:12:57.263Z,1758399177.263 [DAT](INFO): Local bearing/azimuth received:
Bearing 166.5, -37.5 (Local)
2025-09-20T20:12:57.265Z,1758399177.265 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.4
2025-09-20T20:12:57.269Z,1758399177.269 [DAT](INFO): DAT read: 20:12:59.5588 LVL= 27504, 16561, 20946, 17363, AGC= 50, IDX= 505, 0.08, 0.687, 2.380, 1.906, 1.966, PHS=-1.177, 0.459,-0.104, RAW= 289.8, 11.4, CAL= 287.3, 16.4, ROT= 222.7, -16.4
2025-09-20T20:12:57.270Z,1758399177.270 [DAT](INFO): got valid direction response:
20:12:59.5588 LVL= 27504, 16561, 20946, 17363, AGC= 50, IDX= 505, 0.08, 0.687, 2.380, 1.906, 1.966, PHS=-1.177, 0.459,-0.104, RAW= 289.8, 11.4, CAL= 287.3, 16.4, ROT= 222.7, -16.4
2025-09-20T20:12:57.271Z,1758399177.271 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-09-20T20:12:57.272Z,1758399177.272 [DAT](INFO): direction in FSK: [-0.705014,-0.650568,0.282341]
2025-09-20T20:12:57.272Z,1758399177.272 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:57.276Z,1758399177.276 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.616005
2025-09-20T20:12:57.457Z,1758399177.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.600000 m,
deltaT: 0.499670 s,
deltaX: -0.500000 m,
approachRate: -1.000660 m/s,
rangeRepo size: 4
2025-09-20T20:12:57.458Z,1758399177.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.560720 m,
bearing: 80.551167 deg,
lat: 36.779354 deg,
lon: -121.859433 deg,
deltaT: 0.499670 s,
deltaX: -0.497954 m,
approachRate: -0.996566 m/s,
posRepo size: 4
2025-09-20T20:12:57.463Z,1758399177.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:12:57.464Z,1758399177.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m.
2025-09-20T20:12:57.464Z,1758399177.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-09-20T20:12:57.469Z,1758399177.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 9.328889 m,
bearing: 72.695695 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 224.997961 deg,
new cmd heading: 226.302513 deg.
2025-09-20T20:12:57.470Z,1758399177.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.949724 target range: 9.560720 and range: 9.60 m.
2025-09-20T20:12:57.513Z,1758399177.513 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.853024
2025-09-20T20:12:57.766Z,1758399177.766 [DAT](INFO): DAT read: Rx Time:20:13:00.0587
2025-09-20T20:12:57.766Z,1758399177.766 [DAT](INFO): Rx dataTimestamp_ set to:1758399177.765855
2025-09-20T20:12:57.770Z,1758399177.770 [DAT](INFO): DAT read: Bearing 164.2, -33.1 (Local)
2025-09-20T20:12:57.771Z,1758399177.771 [DAT](INFO): Local bearing/azimuth received:
Bearing 164.2, -33.1 (Local)
2025-09-20T20:12:57.778Z,1758399177.778 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4
2025-09-20T20:12:57.801Z,1758399177.801 [DAT](INFO): DAT read: 20:13:00.0587 LVL= 27712, 21921, 23474, 17475, AGC= 51, IDX= 505,-0.32, 0.657, 2.231, 1.697, 1.841, PHS=-1.083, 0.434,-0.188, RAW= 294.1, 12.6, CAL= 291.2, 19.1, ROT= 218.8, -19.1
2025-09-20T20:12:57.813Z,1758399177.813 [DAT](INFO): got valid direction response:
20:13:00.0587 LVL= 27712, 21921, 23474, 17475, AGC= 51, IDX= 505,-0.32, 0.657, 2.231, 1.697, 1.841, PHS=-1.083, 0.434,-0.188, RAW= 294.1, 12.6, CAL= 291.2, 19.1, ROT= 218.8, -19.1
2025-09-20T20:12:57.814Z,1758399177.814 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-09-20T20:12:57.826Z,1758399177.826 [DAT](INFO): direction in FSK: [-0.736435,-0.592109,0.327218]
2025-09-20T20:12:57.839Z,1758399177.839 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:57.842Z,1758399177.842 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.182930
2025-09-20T20:12:57.892Z,1758399177.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.505104 s,
deltaX: -0.100000 m,
approachRate: -0.197980 m/s,
rangeRepo size: 4
2025-09-20T20:12:57.894Z,1758399177.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.461129 m,
bearing: 77.132634 deg,
lat: 36.779354 deg,
lon: -121.859433 deg,
deltaT: 0.505104 s,
deltaX: -0.099591 m,
approachRate: -0.197170 m/s,
posRepo size: 4
2025-09-20T20:12:57.895Z,1758399177.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.46 m. 9.56 m.
2025-09-20T20:12:57.955Z,1758399177.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 9.575528 m,
bearing: 72.039819 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 226.302513 deg,
new cmd heading: 227.542748 deg.
2025-09-20T20:12:57.956Z,1758399177.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.971370 target range: 9.560720 and range: 9.50 m.
2025-09-20T20:12:58.017Z,1758399178.017 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.357582
2025-09-20T20:12:58.256Z,1758399178.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:12:58.259Z,1758399178.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:12:58.265Z,1758399178.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 9.798223 m,
bearing: 71.486259 deg,
approach rate: 0.592915 m/s,
LOS rate: -1.440307 deg/s,
cmd heading: 227.542753 deg,
new cmd heading: 226.460940 deg.
2025-09-20T20:12:58.266Z,1758399178.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.952489 target range: 9.560720 and range: 9.50 m.
2025-09-20T20:12:58.268Z,1758399178.268 [DAT](INFO): DAT read: Rx Time:20:13:00.5585
2025-09-20T20:12:58.269Z,1758399178.269 [DAT](INFO): Rx dataTimestamp_ set to:1758399178.268451
2025-09-20T20:12:58.270Z,1758399178.270 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4
2025-09-20T20:12:58.270Z,1758399178.270 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-09-20T20:12:58.271Z,1758399178.271 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.611958
2025-09-20T20:12:58.520Z,1758399178.520 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.860443
2025-09-20T20:12:58.674Z,1758399178.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.502596 s,
deltaX: -0.300000 m,
approachRate: -0.596901 m/s,
rangeRepo size: 4
2025-09-20T20:12:58.676Z,1758399178.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:12:58.678Z,1758399178.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 10.037234 m,
bearing: 70.946378 deg,
approach rate: 0.575805 m/s,
LOS rate: -1.269646 deg/s,
cmd heading: 226.460946 deg,
new cmd heading: 225.407030 deg.
2025-09-20T20:12:58.680Z,1758399178.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.934095 target range: 9.560720 and range: 9.20 m.
2025-09-20T20:12:58.777Z,1758399178.777 [DAT](INFO): DAT read: Rx Time:20:13:01.0584
2025-09-20T20:12:58.780Z,1758399178.780 [DAT](INFO): Rx dataTimestamp_ set to:1758399178.778310
2025-09-20T20:12:58.785Z,1758399178.785 [DAT](INFO): DAT read: Bearing 159.2, -4.6 (Local)
2025-09-20T20:12:58.787Z,1758399178.787 [DAT](INFO): Local bearing/azimuth received:
Bearing 159.2, -4.6 (Local)
2025-09-20T20:12:58.828Z,1758399178.828 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4
2025-09-20T20:12:58.856Z,1758399178.856 [DAT](INFO): DAT read: 20:13:01.0584 LVL= 32752, 21441, 23650, 23923, AGC= 54, IDX= 502, 0.40, 0.983, 2.667, 1.399, 2.337, PHS=-1.253, 0.375,-0.982, RAW= 321.1, 23.5, CAL= 320.7, 28.5, ROT= 189.3, -28.5
2025-09-20T20:12:58.857Z,1758399178.857 [DAT](INFO): got valid direction response:
20:13:01.0584 LVL= 32752, 21441, 23650, 23923, AGC= 54, IDX= 502, 0.40, 0.983, 2.667, 1.399, 2.337, PHS=-1.253, 0.375,-0.982, RAW= 321.1, 23.5, CAL= 320.7, 28.5, ROT= 189.3, -28.5
2025-09-20T20:12:58.857Z,1758399178.857 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-09-20T20:12:58.858Z,1758399178.858 [DAT](INFO): direction in FSK: [-0.867266,-0.142020,0.477159]
2025-09-20T20:12:58.859Z,1758399178.859 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:58.872Z,1758399178.872 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.212112
2025-09-20T20:12:59.024Z,1758399179.024 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.364502
2025-09-20T20:12:59.074Z,1758399179.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 0.509859 s,
deltaX: -0.200000 m,
approachRate: -0.392265 m/s,
rangeRepo size: 4
2025-09-20T20:12:59.085Z,1758399179.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.963325 m,
bearing: 49.566859 deg,
lat: 36.779354 deg,
lon: -121.859434 deg,
deltaT: 1.517559 s,
deltaX: -0.597396 m,
approachRate: -0.393656 m/s,
posRepo size: 4
2025-09-20T20:12:59.092Z,1758399179.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.96 m. 9.56 m.
2025-09-20T20:12:59.103Z,1758399179.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 10.270468 m,
bearing: 70.465476 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 225.407034 deg,
new cmd heading: 226.569765 deg.
2025-09-20T20:12:59.115Z,1758399179.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.954388 target range: 9.560720 and range: 9.00 m.
2025-09-20T20:12:59.276Z,1758399179.276 [DAT](INFO): DAT read: Rx Time:20:13:01.5583
2025-09-20T20:12:59.277Z,1758399179.277 [DAT](INFO): Rx dataTimestamp_ set to:1758399179.276341
2025-09-20T20:12:59.278Z,1758399179.278 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.0
2025-09-20T20:12:59.278Z,1758399179.278 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-09-20T20:12:59.279Z,1758399179.279 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.619839
2025-09-20T20:12:59.470Z,1758399179.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.498031 s,
deltaX: -0.300000 m,
approachRate: -0.602373 m/s,
rangeRepo size: 4
2025-09-20T20:12:59.471Z,1758399179.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:12:59.474Z,1758399179.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 10.517130 m,
bearing: 69.996373 deg,
approach rate: 0.622851 m/s,
LOS rate: -1.156748 deg/s,
cmd heading: 226.569765 deg,
new cmd heading: 225.653650 deg.
2025-09-20T20:12:59.475Z,1758399179.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.938399 target range: 9.560720 and range: 8.70 m.
2025-09-20T20:12:59.528Z,1758399179.528 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.868565
2025-09-20T20:12:59.781Z,1758399179.781 [DAT](INFO): DAT read: Rx Time:20:13:02.0585
2025-09-20T20:12:59.784Z,1758399179.784 [DAT](INFO): Rx dataTimestamp_ set to:1758399179.782256
2025-09-20T20:12:59.788Z,1758399179.788 [DAT](INFO): DAT read: Bearing 90.3, -42.0 (Local)
2025-09-20T20:12:59.788Z,1758399179.788 [DAT](INFO): Local bearing/azimuth received:
Bearing 90.3, -42.0 (Local)
2025-09-20T20:12:59.791Z,1758399179.791 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.4
2025-09-20T20:12:59.808Z,1758399179.808 [DAT](INFO): DAT read: 20:13:02.0585 LVL= 14272, 16113, 9650, 9843, AGC= 58, IDX= 2, 0.23,-1.840,-1.396,-0.298,-0.351, PHS=-1.387,-1.000, 0.008, RAW= 225.6, 34.0, CAL= 227.4, 44.5, ROT= 282.6, -44.5
2025-09-20T20:12:59.812Z,1758399179.812 [DAT](INFO): got valid direction response:
20:13:02.0585 LVL= 14272, 16113, 9650, 9843, AGC= 58, IDX= 2, 0.23,-1.840,-1.396,-0.298,-0.351, PHS=-1.387,-1.000, 0.008, RAW= 225.6, 34.0, CAL= 227.4, 44.5, ROT= 282.6, -44.5
2025-09-20T20:12:59.813Z,1758399179.813 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-09-20T20:12:59.826Z,1758399179.826 [DAT](INFO): direction in FSK: [0.155591,-0.696073,0.700909]
2025-09-20T20:12:59.832Z,1758399179.832 [DAT](INFO): publishing direction and range info
2025-09-20T20:12:59.885Z,1758399179.885 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.225559
2025-09-20T20:13:00.030Z,1758399180.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.200000 m,
deltaT: 0.505915 s,
deltaX: 0.500000 m,
approachRate: 0.988308 m/s,
rangeRepo size: 4
2025-09-20T20:13:00.032Z,1758399180.032 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.372574
2025-09-20T20:13:00.037Z,1758399180.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.162539 m,
bearing: 144.608033 deg,
lat: 36.779345 deg,
lon: -121.859439 deg,
deltaT: 2.521505 s,
deltaX: -0.398181 m,
approachRate: -0.157914 m/s,
posRepo size: 4
2025-09-20T20:13:00.038Z,1758399180.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.16 m. 9.56 m.
2025-09-20T20:13:00.041Z,1758399180.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 10.838263 m,
bearing: 69.477718 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 225.653645 deg,
new cmd heading: 227.278772 deg.
2025-09-20T20:13:00.042Z,1758399180.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.966763 target range: 9.560720 and range: 9.20 m.
2025-09-20T20:13:00.286Z,1758399180.286 [DAT](INFO): DAT read: Rx Time:20:13:02.5583
2025-09-20T20:13:00.287Z,1758399180.287 [DAT](INFO): Rx dataTimestamp_ set to:1758399180.286399
2025-09-20T20:13:00.288Z,1758399180.288 [DAT](INFO): DAT read: Bearing 104.8, -46.5 (Local)
2025-09-20T20:13:00.288Z,1758399180.288 [DAT](INFO): Local bearing/azimuth received:
Bearing 104.8, -46.5 (Local)
2025-09-20T20:13:00.290Z,1758399180.290 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.3
2025-09-20T20:13:00.295Z,1758399180.295 [DAT](INFO): DAT read: 20:13:02.5583 LVL= 21792, 14545, 10834, 29219, AGC= 54, IDX= 496, 0.02,-3.112,-2.285,-1.279,-1.396, PHS=-1.613,-0.843, 0.073, RAW= 237.1, 29.9, CAL= 241.2, 40.1, ROT= 268.8, -40.1
2025-09-20T20:13:00.296Z,1758399180.296 [DAT](INFO): got valid direction response:
20:13:02.5583 LVL= 21792, 14545, 10834, 29219, AGC= 54, IDX= 496, 0.02,-3.112,-2.285,-1.279,-1.396, PHS=-1.613,-0.843, 0.073, RAW= 237.1, 29.9, CAL= 241.2, 40.1, ROT= 268.8, -40.1
2025-09-20T20:13:00.296Z,1758399180.296 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-09-20T20:13:00.297Z,1758399180.297 [DAT](INFO): direction in FSK: [-0.016019,-0.764754,0.644124]
2025-09-20T20:13:00.298Z,1758399180.298 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:00.307Z,1758399180.307 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.647903
2025-09-20T20:13:00.489Z,1758399180.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.504143 s,
deltaX: -0.500000 m,
approachRate: -0.991782 m/s,
rangeRepo size: 4
2025-09-20T20:13:00.496Z,1758399180.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.664576 m,
bearing: 132.253923 deg,
lat: 36.779342 deg,
lon: -121.859476 deg,
deltaT: 3.025648 s,
deltaX: -0.896145 m,
approachRate: -0.296183 m/s,
posRepo size: 4
2025-09-20T20:13:00.496Z,1758399180.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.56 m.
2025-09-20T20:13:00.503Z,1758399180.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 11.111115 m,
bearing: 69.096014 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 227.278766 deg,
new cmd heading: 228.613836 deg.
2025-09-20T20:13:00.504Z,1758399180.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 3.990064 target range: 9.560720 and range: 8.70 m.
2025-09-20T20:13:00.536Z,1758399180.536 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.876488
2025-09-20T20:13:00.789Z,1758399180.789 [DAT](INFO): DAT read: Rx Time:20:13:03.0580
2025-09-20T20:13:00.790Z,1758399180.790 [DAT](INFO): Rx dataTimestamp_ set to:1758399180.789607
2025-09-20T20:13:00.792Z,1758399180.792 [DAT](INFO): DAT read: Bearing 136.4, -8.7 (Local)
2025-09-20T20:13:00.792Z,1758399180.792 [DAT](INFO): Local bearing/azimuth received:
Bearing 136.4, -8.7 (Local)
2025-09-20T20:13:00.796Z,1758399180.796 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.2
2025-09-20T20:13:00.846Z,1758399180.846 [DAT](INFO): DAT read: 20:13:03.0580 LVL= 32752, 27553, 20546, 32755, AGC= 58, IDX= 511, 0.28,-0.791, 0.539,-0.135, 1.092, PHS=-1.781,-0.507,-1.271, RAW= 306.6, 48.6, CAL= 307.8, 52.6, ROT= 202.2, -52.6
2025-09-20T20:13:00.868Z,1758399180.868 [DAT](INFO): got valid direction response:
20:13:03.0580 LVL= 32752, 27553, 20546, 32755, AGC= 58, IDX= 511, 0.28,-0.791, 0.539,-0.135, 1.092, PHS=-1.781,-0.507,-1.271, RAW= 306.6, 48.6, CAL= 307.8, 52.6, ROT= 202.2, -52.6
2025-09-20T20:13:00.868Z,1758399180.868 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-09-20T20:13:00.869Z,1758399180.869 [DAT](INFO): direction in FSK: [-0.562351,-0.229491,0.794415]
2025-09-20T20:13:00.870Z,1758399180.870 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:00.877Z,1758399180.877 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.217892
2025-09-20T20:13:01.040Z,1758399181.040 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.380562
2025-09-20T20:13:01.080Z,1758399181.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.503208 s,
deltaX: -0.400000 m,
approachRate: -0.794899 m/s,
rangeRepo size: 4
2025-09-20T20:13:01.082Z,1758399181.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.266194 m,
bearing: 70.364904 deg,
lat: 36.779331 deg,
lon: -121.859491 deg,
deltaT: 3.528856 s,
deltaX: -1.294526 m,
approachRate: -0.366840 m/s,
posRepo size: 4
2025-09-20T20:13:01.084Z,1758399181.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.27 m. 9.56 m.
2025-09-20T20:13:01.090Z,1758399181.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 11.460545 m,
bearing: 68.634894 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 228.613835 deg,
new cmd heading: 230.316447 deg.
2025-09-20T20:13:01.103Z,1758399181.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.019780 target range: 9.560720 and range: 8.30 m.
2025-09-20T20:13:01.292Z,1758399181.292 [DAT](INFO): DAT read: Rx Time:20:13:03.5578
2025-09-20T20:13:01.293Z,1758399181.293 [DAT](INFO): Rx dataTimestamp_ set to:1758399181.292368
2025-09-20T20:13:01.294Z,1758399181.294 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.3
2025-09-20T20:13:01.294Z,1758399181.294 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-09-20T20:13:01.295Z,1758399181.295 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.635872
2025-09-20T20:13:01.445Z,1758399181.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:01.448Z,1758399181.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.502761 s,
deltaX: -0.300000 m,
approachRate: -0.596705 m/s,
rangeRepo size: 4
2025-09-20T20:13:01.449Z,1758399181.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:01.452Z,1758399181.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 11.689629 m,
bearing: 68.361148 deg,
approach rate: 0.614385 m/s,
LOS rate: -0.719775 deg/s,
cmd heading: 230.316438 deg,
new cmd heading: 229.779693 deg.
2025-09-20T20:13:01.453Z,1758399181.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.010412 target range: 9.560720 and range: 8.00 m.
2025-09-20T20:13:01.546Z,1758399181.546 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.886261
2025-09-20T20:13:01.797Z,1758399181.797 [DAT](INFO): DAT read: Rx Time:20:13:04.0584
2025-09-20T20:13:01.798Z,1758399181.798 [DAT](INFO): Rx dataTimestamp_ set to:1758399181.797608
2025-09-20T20:13:01.800Z,1758399181.800 [DAT](INFO): DAT read: Bearing 181.8, 2.8 (Local)
2025-09-20T20:13:01.800Z,1758399181.800 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.8, 2.8 (Local)
2025-09-20T20:13:01.802Z,1758399181.802 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.2
2025-09-20T20:13:01.806Z,1758399181.806 [DAT](INFO): DAT read: 20:13:04.0584 LVL= 21152, 19489, 20066, 28115, AGC= 63, IDX= 2,-0.27,-2.894,-1.031,-2.750,-1.896, PHS=-0.895, 0.911,-0.897, RAW= 330.1, 9.8, CAL= 329.5, 10.9, ROT= 180.5, -10.9
2025-09-20T20:13:01.808Z,1758399181.808 [DAT](INFO): got valid direction response:
20:13:04.0584 LVL= 21152, 19489, 20066, 28115, AGC= 63, IDX= 2,-0.27,-2.894,-1.031,-2.750,-1.896, PHS=-0.895, 0.911,-0.897, RAW= 330.1, 9.8, CAL= 329.5, 10.9, ROT= 180.5, -10.9
2025-09-20T20:13:01.808Z,1758399181.808 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-09-20T20:13:01.809Z,1758399181.809 [DAT](INFO): direction in FSK: [-0.981921,-0.008569,0.189095]
2025-09-20T20:13:01.809Z,1758399181.809 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:01.823Z,1758399181.823 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.163910
2025-09-20T20:13:01.987Z,1758399181.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.000000 m,
deltaT: 0.505240 s,
deltaX: 1.000000 m,
approachRate: 1.979257 m/s,
rangeRepo size: 4
2025-09-20T20:13:01.989Z,1758399181.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.963343 m,
bearing: 44.669493 deg,
lat: 36.779331 deg,
lon: -121.859491 deg,
deltaT: 4.536857 s,
deltaX: -0.597378 m,
approachRate: -0.131672 m/s,
posRepo size: 4
2025-09-20T20:13:01.990Z,1758399181.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 9.00 m.
2025-09-20T20:13:01.990Z,1758399181.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.96 m. 9.56 m.
2025-09-20T20:13:01.997Z,1758399181.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 11.985667 m,
bearing: 68.039623 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 229.779694 deg,
new cmd heading: 231.286353 deg.
2025-09-20T20:13:01.998Z,1758399181.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.036708 target range: 9.560720 and range: 9.00 m.
2025-09-20T20:13:02.048Z,1758399182.048 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.388565
2025-09-20T20:13:02.301Z,1758399182.301 [DAT](INFO): DAT read: Rx Time:20:13:04.5583
2025-09-20T20:13:02.301Z,1758399182.301 [DAT](INFO): Rx dataTimestamp_ set to:1758399182.300852
2025-09-20T20:13:02.302Z,1758399182.302 [DAT](INFO): DAT read: Bearing 82.9, 21.1 (Local)
2025-09-20T20:13:02.303Z,1758399182.303 [DAT](INFO): Local bearing/azimuth received:
Bearing 82.9, 21.1 (Local)
2025-09-20T20:13:02.305Z,1758399182.305 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.3
2025-09-20T20:13:02.310Z,1758399182.310 [DAT](INFO): DAT read: 20:13:04.5583 LVL= 30560, 22641, 27058, 32755, AGC= 63, IDX= 490, 0.35,-1.953,-2.683,-2.361,-1.158, PHS=-0.692,-1.480,-1.247, RAW= 106.8, 59.9, CAL= 105.3, 63.9, ROT= 44.7, -63.9
2025-09-20T20:13:02.311Z,1758399182.311 [DAT](INFO): got valid direction response:
20:13:04.5583 LVL= 30560, 22641, 27058, 32755, AGC= 63, IDX= 490, 0.35,-1.953,-2.683,-2.361,-1.158, PHS=-0.692,-1.480,-1.247, RAW= 106.8, 59.9, CAL= 105.3, 63.9, ROT= 44.7, -63.9
2025-09-20T20:13:02.311Z,1758399182.311 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-09-20T20:13:02.312Z,1758399182.312 [DAT](INFO): direction in FSK: [0.312709,0.309451,0.898028]
2025-09-20T20:13:02.312Z,1758399182.312 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:02.348Z,1758399182.348 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.688198
2025-09-20T20:13:02.352Z,1758399182.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.700000 m,
deltaT: 0.503244 s,
deltaX: -0.300000 m,
approachRate: -0.596133 m/s,
rangeRepo size: 4
2025-09-20T20:13:02.354Z,1758399182.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.664593 m,
bearing: 258.895763 deg,
lat: 36.779306 deg,
lon: -121.859500 deg,
deltaT: 5.040101 s,
deltaX: -0.896128 m,
approachRate: -0.177800 m/s,
posRepo size: 4
2025-09-20T20:13:02.355Z,1758399182.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.70 m.
2025-09-20T20:13:02.360Z,1758399182.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.66 m. 9.56 m.
2025-09-20T20:13:02.362Z,1758399182.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 12.219895 m,
bearing: 67.786093 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 231.286352 deg,
new cmd heading: 232.404674 deg.
2025-09-20T20:13:02.367Z,1758399182.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.056227 target range: 9.560720 and range: 8.70 m.
2025-09-20T20:13:02.552Z,1758399182.552 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.892639
2025-09-20T20:13:02.688Z,1758399182.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 8.70 m.
2025-09-20T20:13:02.689Z,1758399182.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:02.692Z,1758399182.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 12.456139 m,
bearing: 67.552870 deg,
approach rate: 0.700702 m/s,
LOS rate: -0.678622 deg/s,
cmd heading: 232.404672 deg,
new cmd heading: 231.947085 deg.
2025-09-20T20:13:02.693Z,1758399182.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.048240 target range: 9.560720 and range: 8.70 m.
2025-09-20T20:13:02.804Z,1758399182.804 [DAT](INFO): DAT read: Rx Time:20:13:05.0578
2025-09-20T20:13:02.805Z,1758399182.805 [DAT](INFO): Rx dataTimestamp_ set to:1758399182.804359
2025-09-20T20:13:02.806Z,1758399182.806 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.2
2025-09-20T20:13:02.806Z,1758399182.806 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-09-20T20:13:02.807Z,1758399182.807 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.147865
2025-09-20T20:13:03.056Z,1758399183.056 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.396381
2025-09-20T20:13:03.142Z,1758399183.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.503507 s,
deltaX: -0.700000 m,
approachRate: -1.390248 m/s,
rangeRepo size: 4
2025-09-20T20:13:03.142Z,1758399183.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.00 m.
2025-09-20T20:13:03.159Z,1758399183.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:03.162Z,1758399183.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 12.726817 m,
bearing: 67.297173 deg,
approach rate: 0.600338 m/s,
LOS rate: -0.555047 deg/s,
cmd heading: 231.947077 deg,
new cmd heading: 231.446574 deg.
2025-09-20T20:13:03.163Z,1758399183.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.039505 target range: 9.560720 and range: 8.00 m.
2025-09-20T20:13:03.309Z,1758399183.309 [DAT](INFO): DAT read: Rx Time:20:13:05.5577
2025-09-20T20:13:03.309Z,1758399183.309 [DAT](INFO): Rx dataTimestamp_ set to:1758399183.308957
2025-09-20T20:13:03.310Z,1758399183.310 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.0
2025-09-20T20:13:03.311Z,1758399183.311 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-09-20T20:13:03.312Z,1758399183.312 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.652672
2025-09-20T20:13:03.498Z,1758399183.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:03.501Z,1758399183.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.504598 s,
deltaX: -0.200000 m,
approachRate: -0.396355 m/s,
rangeRepo size: 4
2025-09-20T20:13:03.501Z,1758399183.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.80 m.
2025-09-20T20:13:03.502Z,1758399183.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:03.505Z,1758399183.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 12.947289 m,
bearing: 67.107420 deg,
approach rate: 0.610649 m/s,
LOS rate: -0.516614 deg/s,
cmd heading: 231.446561 deg,
new cmd heading: 231.073524 deg.
2025-09-20T20:13:03.506Z,1758399183.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.032994 target range: 9.560720 and range: 7.80 m.
2025-09-20T20:13:03.561Z,1758399183.561 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.901421
2025-09-20T20:13:03.768Z,1758399183.768 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:13:03.813Z,1758399183.813 [DAT](INFO): DAT read: Rx Time:20:13:06.0577
2025-09-20T20:13:03.813Z,1758399183.813 [DAT](INFO): Rx dataTimestamp_ set to:1758399183.812823
2025-09-20T20:13:03.814Z,1758399183.814 [DAT](INFO): DAT read: Bearing 110.2, 20.3 (Local)
2025-09-20T20:13:03.815Z,1758399183.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 110.2, 20.3 (Local)
2025-09-20T20:13:03.817Z,1758399183.817 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.0
2025-09-20T20:13:03.821Z,1758399183.821 [DAT](INFO): DAT read: 20:13:06.0577 LVL= 18496, 21473, 26834, 32755, AGC= 58, IDX= 506, 0.32, 0.523, 0.469, 0.231, 1.537, PHS=-0.912,-1.023,-1.350, RAW= 44.0, 71.3, CAL= 43.0, 73.4, ROT= 107.0, -73.4
2025-09-20T20:13:03.822Z,1758399183.822 [DAT](INFO): got valid direction response:
20:13:06.0577 LVL= 18496, 21473, 26834, 32755, AGC= 58, IDX= 506, 0.32, 0.523, 0.469, 0.231, 1.537, PHS=-0.912,-1.023,-1.350, RAW= 44.0, 71.3, CAL= 43.0, 73.4, ROT= 107.0, -73.4
2025-09-20T20:13:03.823Z,1758399183.823 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-09-20T20:13:03.824Z,1758399183.824 [DAT](INFO): direction in FSK: [-0.083527,0.273205,0.958323]
2025-09-20T20:13:03.824Z,1758399183.824 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:03.828Z,1758399183.828 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.168232
2025-09-20T20:13:04.064Z,1758399184.064 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.404636
2025-09-20T20:13:04.070Z,1758399184.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.503866 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:04.076Z,1758399184.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.768364 m,
bearing: 333.829831 deg,
lat: 36.779320 deg,
lon: -121.859500 deg,
deltaT: 6.552072 s,
deltaX: -1.792356 m,
approachRate: -0.273556 m/s,
posRepo size: 4
2025-09-20T20:13:04.077Z,1758399184.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.80 m.
2025-09-20T20:13:04.077Z,1758399184.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.77 m. 9.56 m.
2025-09-20T20:13:04.084Z,1758399184.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 13.286591 m,
bearing: 66.839961 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 231.073523 deg,
new cmd heading: 232.726302 deg.
2025-09-20T20:13:04.085Z,1758399184.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.061840 target range: 9.560720 and range: 7.80 m.
2025-09-20T20:13:04.318Z,1758399184.318 [DAT](INFO): DAT read: Rx Time:20:13:06.5577
2025-09-20T20:13:04.319Z,1758399184.319 [DAT](INFO): Rx dataTimestamp_ set to:1758399184.318446
2025-09-20T20:13:04.321Z,1758399184.321 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.1
2025-09-20T20:13:04.322Z,1758399184.322 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-09-20T20:13:04.323Z,1758399184.323 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.663258
2025-09-20T20:13:04.450Z,1758399184.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.505623 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:04.451Z,1758399184.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:04.453Z,1758399184.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 13.530062 m,
bearing: 66.667041 deg,
approach rate: 0.640660 m/s,
LOS rate: -0.446827 deg/s,
cmd heading: 232.726292 deg,
new cmd heading: 232.386679 deg.
2025-09-20T20:13:04.454Z,1758399184.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.055912 target range: 9.560720 and range: 7.80 m.
2025-09-20T20:13:04.568Z,1758399184.568 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.908573
2025-09-20T20:13:04.772Z,1758399184.772 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:13:04.821Z,1758399184.821 [DAT](INFO): DAT read: Rx Time:20:13:07.0577
2025-09-20T20:13:04.821Z,1758399184.821 [DAT](INFO): Rx dataTimestamp_ set to:1758399184.820695
2025-09-20T20:13:04.822Z,1758399184.822 [DAT](INFO): DAT read: Bearing 87.5, 28.0 (Local)
2025-09-20T20:13:04.823Z,1758399184.823 [DAT](INFO): Local bearing/azimuth received:
Bearing 87.5, 28.0 (Local)
2025-09-20T20:13:04.825Z,1758399184.825 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.0
2025-09-20T20:13:04.829Z,1758399184.829 [DAT](INFO): DAT read: 20:13:07.0577 LVL= 22320, 27185, 27986, 32755, AGC= 63, IDX= 508,-0.26, 2.892, 1.807, 2.022,-2.557, PHS=-0.732,-1.874,-1.748, RAW= 95.8, 54.8, CAL= 94.6, 59.7, ROT= 55.4, -59.7
2025-09-20T20:13:04.830Z,1758399184.830 [DAT](INFO): got valid direction response:
20:13:07.0577 LVL= 22320, 27185, 27986, 32755, AGC= 63, IDX= 508,-0.26, 2.892, 1.807, 2.022,-2.557, PHS=-0.732,-1.874,-1.748, RAW= 95.8, 54.8, CAL= 94.6, 59.7, ROT= 55.4, -59.7
2025-09-20T20:13:04.831Z,1758399184.831 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-09-20T20:13:04.832Z,1758399184.832 [DAT](INFO): direction in FSK: [0.286493,0.415295,0.863396]
2025-09-20T20:13:04.832Z,1758399184.832 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:04.836Z,1758399184.836 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.176933
2025-09-20T20:13:05.003Z,1758399185.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.502249 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:05.005Z,1758399185.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.768364 m,
bearing: 277.593741 deg,
lat: 36.779320 deg,
lon: -121.859578 deg,
deltaT: 7.559944 s,
deltaX: -1.792356 m,
approachRate: -0.237086 m/s,
posRepo size: 4
2025-09-20T20:13:05.006Z,1758399185.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.80 m.
2025-09-20T20:13:05.006Z,1758399185.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.77 m. 9.56 m.
2025-09-20T20:13:05.023Z,1758399185.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 13.840540 m,
bearing: 66.468105 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 232.386668 deg,
new cmd heading: 233.947057 deg.
2025-09-20T20:13:05.024Z,1758399185.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.083147 target range: 9.560720 and range: 7.80 m.
2025-09-20T20:13:05.073Z,1758399185.073 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.413162
2025-09-20T20:13:05.325Z,1758399185.325 [DAT](INFO): DAT read: Rx Time:20:13:07.5574
2025-09-20T20:13:05.325Z,1758399185.325 [DAT](INFO): Rx dataTimestamp_ set to:1758399185.325188
2025-09-20T20:13:05.327Z,1758399185.327 [DAT](INFO): DAT read: Bearing 144.4, 67.6 (Local)
2025-09-20T20:13:05.327Z,1758399185.327 [DAT](INFO): Local bearing/azimuth received:
Bearing 144.4, 67.6 (Local)
2025-09-20T20:13:05.329Z,1758399185.329 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.0
2025-09-20T20:13:05.334Z,1758399185.334 [DAT](INFO): DAT read: 20:13:07.5574 LVL= 11504, 21137, 16242, 18675, AGC= 65, IDX= 507, 0.45, 1.466, 0.731,-0.750, 1.162, PHS= 0.405,-0.386,-1.956, RAW= 49.2, 18.2, CAL= 44.7, 21.7, ROT= 105.3, -21.7
2025-09-20T20:13:05.335Z,1758399185.335 [DAT](INFO): got valid direction response:
20:13:07.5574 LVL= 11504, 21137, 16242, 18675, AGC= 65, IDX= 507, 0.45, 1.466, 0.731,-0.750, 1.162, PHS= 0.405,-0.386,-1.956, RAW= 49.2, 18.2, CAL= 44.7, 21.7, ROT= 105.3, -21.7
2025-09-20T20:13:05.335Z,1758399185.335 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-09-20T20:13:05.336Z,1758399185.336 [DAT](INFO): direction in FSK: [-0.245173,0.896202,0.369747]
2025-09-20T20:13:05.336Z,1758399185.336 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:05.363Z,1758399185.363 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.703205
2025-09-20T20:13:05.523Z,1758399185.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.504493 s,
deltaX: -0.400000 m,
approachRate: -0.792875 m/s,
rangeRepo size: 4
2025-09-20T20:13:05.529Z,1758399185.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.370008 m,
bearing: 333.415311 deg,
lat: 36.779320 deg,
lon: -121.859600 deg,
deltaT: 8.064437 s,
deltaX: -2.190713 m,
approachRate: -0.271651 m/s,
posRepo size: 4
2025-09-20T20:13:05.531Z,1758399185.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.40 m.
2025-09-20T20:13:05.532Z,1758399185.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.37 m. 9.56 m.
2025-09-20T20:13:05.535Z,1758399185.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 14.177768 m,
bearing: 66.239984 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 233.947066 deg,
new cmd heading: 235.502954 deg.
2025-09-20T20:13:05.536Z,1758399185.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.110302 target range: 9.560720 and range: 7.40 m.
2025-09-20T20:13:05.576Z,1758399185.576 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.916664
2025-09-20T20:13:05.802Z,1758399185.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:05.804Z,1758399185.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.40 m.
2025-09-20T20:13:05.804Z,1758399185.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:05.807Z,1758399185.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 14.369231 m,
bearing: 66.128772 deg,
approach rate: 0.679132 m/s,
LOS rate: -0.389218 deg/s,
cmd heading: 235.502955 deg,
new cmd heading: 235.283497 deg.
2025-09-20T20:13:05.808Z,1758399185.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.106472 target range: 9.560720 and range: 7.40 m.
2025-09-20T20:13:05.829Z,1758399185.829 [DAT](INFO): DAT read: Rx Time:20:13:08.0575
2025-09-20T20:13:05.829Z,1758399185.829 [DAT](INFO): Rx dataTimestamp_ set to:1758399185.828782
2025-09-20T20:13:05.830Z,1758399185.830 [DAT](INFO): DAT read: Bearing 85.9, -8.7 (Local)
2025-09-20T20:13:05.831Z,1758399185.831 [DAT](INFO): Local bearing/azimuth received:
Bearing 85.9, -8.7 (Local)
2025-09-20T20:13:05.833Z,1758399185.833 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.1
2025-09-20T20:13:05.838Z,1758399185.838 [DAT](INFO): DAT read: 20:13:08.0575 LVL= 15392, 20273, 13202, 20243, AGC= 64, IDX= 508, 0.09,-1.561,-1.999,-0.967,-0.266, PHS=-1.194,-1.689,-0.745, RAW= 178.4, 57.5, CAL= 178.3, 64.3, ROT= 331.7, -64.3
2025-09-20T20:13:05.840Z,1758399185.840 [DAT](INFO): got valid direction response:
20:13:08.0575 LVL= 15392, 20273, 13202, 20243, AGC= 64, IDX= 508, 0.09,-1.561,-1.999,-0.967,-0.266, PHS=-1.194,-1.689,-0.745, RAW= 178.4, 57.5, CAL= 178.3, 64.3, ROT= 331.7, -64.3
2025-09-20T20:13:05.840Z,1758399185.840 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-09-20T20:13:05.842Z,1758399185.842 [DAT](INFO): direction in FSK: [0.381827,-0.205592,0.901077]
2025-09-20T20:13:05.842Z,1758399185.842 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:05.855Z,1758399185.855 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.194927
2025-09-20T20:13:06.080Z,1758399186.080 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.420605
2025-09-20T20:13:06.219Z,1758399186.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.503594 s,
deltaX: 0.100000 m,
approachRate: 0.198572 m/s,
rangeRepo size: 4
2025-09-20T20:13:06.221Z,1758399186.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.469615 m,
bearing: 195.290214 deg,
lat: 36.779308 deg,
lon: -121.859600 deg,
deltaT: 8.568031 s,
deltaX: -2.091105 m,
approachRate: -0.244059 m/s,
posRepo size: 4
2025-09-20T20:13:06.222Z,1758399186.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.50 m.
2025-09-20T20:13:06.222Z,1758399186.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.47 m. 9.56 m.
2025-09-20T20:13:06.241Z,1758399186.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 14.625700 m,
bearing: 65.990185 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 235.283488 deg,
new cmd heading: 236.486941 deg.
2025-09-20T20:13:06.242Z,1758399186.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.127476 target range: 9.560720 and range: 7.50 m.
2025-09-20T20:13:06.334Z,1758399186.334 [DAT](INFO): DAT read: Rx Time:20:13:08.5574
2025-09-20T20:13:06.334Z,1758399186.334 [DAT](INFO): Rx dataTimestamp_ set to:1758399186.333863
2025-09-20T20:13:06.336Z,1758399186.336 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.1
2025-09-20T20:13:06.337Z,1758399186.337 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-09-20T20:13:06.339Z,1758399186.339 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.678856
2025-09-20T20:13:06.584Z,1758399186.584 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.924568
2025-09-20T20:13:06.609Z,1758399186.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.505081 s,
deltaX: -0.100000 m,
approachRate: -0.197988 m/s,
rangeRepo size: 4
2025-09-20T20:13:06.609Z,1758399186.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.40 m.
2025-09-20T20:13:06.610Z,1758399186.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:06.613Z,1758399186.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 14.864104 m,
bearing: 65.881074 deg,
approach rate: 0.611327 m/s,
LOS rate: -0.275298 deg/s,
cmd heading: 236.486940 deg,
new cmd heading: 236.272220 deg.
2025-09-20T20:13:06.614Z,1758399186.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.123728 target range: 9.560720 and range: 7.40 m.
2025-09-20T20:13:06.836Z,1758399186.836 [DAT](INFO): DAT read: Rx Time:20:13:09.0573
2025-09-20T20:13:06.837Z,1758399186.837 [DAT](INFO): Rx dataTimestamp_ set to:1758399186.836357
2025-09-20T20:13:06.838Z,1758399186.838 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.0
2025-09-20T20:13:06.838Z,1758399186.838 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-09-20T20:13:06.839Z,1758399186.839 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.179882
2025-09-20T20:13:07.052Z,1758399187.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.502494 s,
deltaX: -0.200000 m,
approachRate: -0.398015 m/s,
rangeRepo size: 4
2025-09-20T20:13:07.052Z,1758399187.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.20 m.
2025-09-20T20:13:07.053Z,1758399187.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:07.060Z,1758399187.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 15.147870 m,
bearing: 65.761408 deg,
approach rate: 0.646758 m/s,
LOS rate: -0.267634 deg/s,
cmd heading: 236.272226 deg,
new cmd heading: 236.037378 deg.
2025-09-20T20:13:07.061Z,1758399187.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.119629 target range: 9.560720 and range: 7.20 m.
2025-09-20T20:13:07.091Z,1758399187.091 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.431053
2025-09-20T20:13:07.341Z,1758399187.341 [DAT](INFO): DAT read: Rx Time:20:13:09.5572
2025-09-20T20:13:07.341Z,1758399187.341 [DAT](INFO): Rx dataTimestamp_ set to:1758399187.340741
2025-09-20T20:13:07.342Z,1758399187.342 [DAT](INFO): DAT read: Bearing 96.3, -16.3 (Local)
2025-09-20T20:13:07.343Z,1758399187.343 [DAT](INFO): Local bearing/azimuth received:
Bearing 96.3, -16.3 (Local)
2025-09-20T20:13:07.345Z,1758399187.345 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.0
2025-09-20T20:13:07.349Z,1758399187.349 [DAT](INFO): DAT read: 20:13:09.5572 LVL= 16016, 18641, 20914, 20707, AGC= 59, IDX= 501, 0.30,-0.701,-0.722, 0.512, 1.557, PHS=-2.156,-2.234,-1.089, RAW= 206.5, 60.2, CAL= 204.9, 66.4, ROT= 305.1, -66.4
2025-09-20T20:13:07.350Z,1758399187.350 [DAT](INFO): got valid direction response:
20:13:09.5572 LVL= 16016, 18641, 20914, 20707, AGC= 59, IDX= 501, 0.30,-0.701,-0.722, 0.512, 1.557, PHS=-2.156,-2.234,-1.089, RAW= 206.5, 60.2, CAL= 204.9, 66.4, ROT= 305.1, -66.4
2025-09-20T20:13:07.351Z,1758399187.351 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-09-20T20:13:07.352Z,1758399187.352 [DAT](INFO): direction in FSK: [0.230203,-0.327545,0.916363]
2025-09-20T20:13:07.352Z,1758399187.352 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:07.356Z,1758399187.356 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.696167
2025-09-20T20:13:07.512Z,1758399187.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.504384 s,
deltaX: -0.100000 m,
approachRate: -0.198261 m/s,
rangeRepo size: 4
2025-09-20T20:13:07.514Z,1758399187.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.071264 m,
bearing: 172.352532 deg,
lat: 36.779308 deg,
lon: -121.859593 deg,
deltaT: 10.079990 s,
deltaX: -2.489456 m,
approachRate: -0.246970 m/s,
posRepo size: 4
2025-09-20T20:13:07.519Z,1758399187.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.10 m.
2025-09-20T20:13:07.520Z,1758399187.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.07 m. 9.56 m.
2025-09-20T20:13:07.522Z,1758399187.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 15.430694 m,
bearing: 65.646544 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 236.037377 deg,
new cmd heading: 237.388196 deg.
2025-09-20T20:13:07.528Z,1758399187.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.143206 target range: 9.560720 and range: 7.10 m.
2025-09-20T20:13:07.596Z,1758399187.596 [DAT](INFO): DAT read: Rx Time:20:13:10.0573
2025-09-20T20:13:07.598Z,1758399187.598 [DAT](INFO): Rx dataTimestamp_ set to:1758399187.596994
2025-09-20T20:13:07.600Z,1758399187.600 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.940098
2025-09-20T20:13:07.844Z,1758399187.844 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.0
2025-09-20T20:13:07.845Z,1758399187.845 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-09-20T20:13:07.846Z,1758399187.846 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.186523
2025-09-20T20:13:07.865Z,1758399187.865 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:07.868Z,1758399187.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.502573 s,
deltaX: 0.100000 m,
approachRate: 0.198976 m/s,
rangeRepo size: 4
2025-09-20T20:13:07.869Z,1758399187.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:07.907Z,1758399187.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 15.679036 m,
bearing: 65.564393 deg,
approach rate: 0.698828 m/s,
LOS rate: -0.227510 deg/s,
cmd heading: 237.388197 deg,
new cmd heading: 237.226497 deg.
2025-09-20T20:13:07.912Z,1758399187.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.140383 target range: 9.560720 and range: 7.20 m.
2025-09-20T20:13:08.102Z,1758399188.102 [DAT](INFO): DAT read: Rx Time:20:13:10.5572
2025-09-20T20:13:08.104Z,1758399188.104 [DAT](INFO): Rx dataTimestamp_ set to:1758399188.103217
2025-09-20T20:13:08.109Z,1758399188.109 [DAT](INFO): DAT read: Bearing 75.9, -2.3 (Local)
2025-09-20T20:13:08.110Z,1758399188.110 [DAT](INFO): Local bearing/azimuth received:
Bearing 75.9, -2.3 (Local)
2025-09-20T20:13:08.120Z,1758399188.120 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.1
2025-09-20T20:13:08.124Z,1758399188.124 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-09-20T20:13:08.129Z,1758399188.129 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.468296
2025-09-20T20:13:08.352Z,1758399188.352 [DAT](INFO): DAT read: 20:13:10.5572 LVL= 17744, 29425, 29810, 32755, AGC= 63, IDX= 504, 0.50,-2.966, 2.349,-2.711,-2.163, PHS=-0.700,-1.726,-0.592, RAW= 155.0, 44.5, CAL= 158.1, 54.2, ROT= 351.9, -54.2
2025-09-20T20:13:08.353Z,1758399188.353 [DAT](INFO): got valid direction response:
20:13:10.5572 LVL= 17744, 29425, 29810, 32755, AGC= 63, IDX= 504, 0.50,-2.966, 2.349,-2.711,-2.163, PHS=-0.700,-1.726,-0.592, RAW= 155.0, 44.5, CAL= 158.1, 54.2, ROT= 351.9, -54.2
2025-09-20T20:13:08.353Z,1758399188.353 [DAT](INFO): #Rx 105: Read direction message, but no range.
2025-09-20T20:13:08.354Z,1758399188.354 [DAT](INFO): direction in FSK: [0.579122,-0.082421,0.811064]
2025-09-20T20:13:08.357Z,1758399188.358 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.697960
2025-09-20T20:13:08.501Z,1758399188.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.100000 m,
deltaT: 0.259903 s,
deltaX: -0.100000 m,
approachRate: -0.384759 m/s,
rangeRepo size: 4
2025-09-20T20:13:08.507Z,1758399188.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.071297 m,
bearing: 220.140411 deg,
lat: 36.779270 deg,
lon: -121.859612 deg,
deltaT: 10.842466 s,
deltaX: -2.489423 m,
approachRate: -0.229599 m/s,
posRepo size: 4
2025-09-20T20:13:08.509Z,1758399188.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.07 m. 9.56 m.
2025-09-20T20:13:08.515Z,1758399188.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 16.078146 m,
bearing: 65.461627 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 237.226485 deg,
new cmd heading: 239.065547 deg.
2025-09-20T20:13:08.516Z,1758399188.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.172481 target range: 9.560720 and range: 7.10 m.
2025-09-20T20:13:08.605Z,1758399188.605 [DAT](INFO): DAT read: Rx Time:20:13:11.0573
2025-09-20T20:13:08.605Z,1758399188.605 [DAT](INFO): Rx dataTimestamp_ set to:1758399188.605176
2025-09-20T20:13:08.608Z,1758399188.608 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.0
2025-09-20T20:13:08.608Z,1758399188.608 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-09-20T20:13:08.610Z,1758399188.610 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.950218
2025-09-20T20:13:08.852Z,1758399188.852 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.192539
2025-09-20T20:13:08.889Z,1758399188.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.501959 s,
deltaX: 0.100000 m,
approachRate: 0.199219 m/s,
rangeRepo size: 4
2025-09-20T20:13:08.892Z,1758399188.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:08.898Z,1758399188.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 16.333815 m,
bearing: 65.405311 deg,
approach rate: 0.659015 m/s,
LOS rate: -0.142886 deg/s,
cmd heading: 239.065555 deg,
new cmd heading: 238.954688 deg.
2025-09-20T20:13:08.900Z,1758399188.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.170546 target range: 9.560720 and range: 7.20 m.
2025-09-20T20:13:09.108Z,1758399189.108 [DAT](INFO): DAT read: Rx Time:20:13:11.5578
2025-09-20T20:13:09.110Z,1758399189.110 [DAT](INFO): Rx dataTimestamp_ set to:1758399189.109233
2025-09-20T20:13:09.114Z,1758399189.114 [DAT](INFO): DAT read: Bearing 78.6, -2.2 (Local)
2025-09-20T20:13:09.116Z,1758399189.116 [DAT](INFO): Local bearing/azimuth received:
Bearing 78.6, -2.2 (Local)
2025-09-20T20:13:09.123Z,1758399189.123 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.1
2025-09-20T20:13:09.126Z,1758399189.126 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-09-20T20:13:09.131Z,1758399189.131 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.470337
2025-09-20T20:13:09.298Z,1758399189.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.504057 s,
deltaX: 0.800000 m,
approachRate: 1.587122 m/s,
rangeRepo size: 4
2025-09-20T20:13:09.299Z,1758399189.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.00 m.
2025-09-20T20:13:09.300Z,1758399189.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:09.302Z,1758399189.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 16.608147 m,
bearing: 65.371690 deg,
approach rate: 0.670126 m/s,
LOS rate: -0.080772 deg/s,
cmd heading: 238.954687 deg,
new cmd heading: 238.888555 deg.
2025-09-20T20:13:09.303Z,1758399189.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.169392 target range: 9.560720 and range: 8.00 m.
2025-09-20T20:13:09.360Z,1758399189.360 [DAT](INFO): DAT read: 20:13:11.5578 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.16,-1.421,-2.741,-1.092,-0.260, PHS=-1.060,-2.436,-0.876, RAW= 156.2, 46.3, CAL= 159.0, 55.6, ROT= 351.0, -55.6
2025-09-20T20:13:09.361Z,1758399189.361 [DAT](INFO): got valid direction response:
20:13:11.5578 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.16,-1.421,-2.741,-1.092,-0.260, PHS=-1.060,-2.436,-0.876, RAW= 156.2, 46.3, CAL= 159.0, 55.6, ROT= 351.0, -55.6
2025-09-20T20:13:09.361Z,1758399189.361 [DAT](INFO): #Rx 108: Read direction message, but no range.
2025-09-20T20:13:09.362Z,1758399189.362 [DAT](INFO): direction in FSK: [0.558011,-0.088380,0.825113]
2025-09-20T20:13:09.367Z,1758399189.367 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.707222
2025-09-20T20:13:09.612Z,1758399189.612 [DAT](INFO): DAT read: Rx Time:20:13:12.0575
2025-09-20T20:13:09.614Z,1758399189.614 [DAT](INFO): Rx dataTimestamp_ set to:1758399189.612966
2025-09-20T20:13:09.618Z,1758399189.618 [DAT](INFO): DAT read: Bearing 71.2, 4.6 (Local)
2025-09-20T20:13:09.620Z,1758399189.620 [DAT](INFO): Local bearing/azimuth received:
Bearing 71.2, 4.6 (Local)
2025-09-20T20:13:09.631Z,1758399189.631 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.3
2025-09-20T20:13:09.633Z,1758399189.633 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-09-20T20:13:09.649Z,1758399189.649 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.989143
2025-09-20T20:13:09.732Z,1758399189.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.500000 m,
deltaT: 0.503733 s,
deltaX: -0.500000 m,
approachRate: -0.992589 m/s,
rangeRepo size: 4
2025-09-20T20:13:09.734Z,1758399189.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.469707 m,
bearing: 220.418372 deg,
lat: 36.779269 deg,
lon: -121.859612 deg,
deltaT: 12.352215 s,
deltaX: -2.091014 m,
approachRate: -0.169283 m/s,
posRepo size: 4
2025-09-20T20:13:09.735Z,1758399189.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.50 m.
2025-09-20T20:13:09.736Z,1758399189.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.47 m. 9.56 m.
2025-09-20T20:13:09.738Z,1758399189.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 16.891100 m,
bearing: 65.345882 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 238.888544 deg,
new cmd heading: 240.147593 deg.
2025-09-20T20:13:09.740Z,1758399189.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.191366 target range: 9.560720 and range: 7.50 m.
2025-09-20T20:13:09.864Z,1758399189.864 [DAT](INFO): DAT read: 20:13:12.0575 LVL= 27744, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.41,-2.263, 2.381,-2.385,-1.680, PHS=-0.481,-2.177,-0.749, RAW= 141.6, 37.3, CAL= 147.1, 48.2, ROT= 2.9, -48.2
2025-09-20T20:13:09.865Z,1758399189.865 [DAT](INFO): got valid direction response:
20:13:12.0575 LVL= 27744, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.41,-2.263, 2.381,-2.385,-1.680, PHS=-0.481,-2.177,-0.749, RAW= 141.6, 37.3, CAL= 147.1, 48.2, ROT= 2.9, -48.2
2025-09-20T20:13:09.865Z,1758399189.865 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-09-20T20:13:09.866Z,1758399189.866 [DAT](INFO): direction in FSK: [0.665679,0.033722,0.745476]
2025-09-20T20:13:09.880Z,1758399189.880 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.220238
2025-09-20T20:13:10.112Z,1758399190.112 [DAT](INFO): DAT read: Rx Time:20:13:12.5574
2025-09-20T20:13:10.113Z,1758399190.113 [DAT](INFO): Rx dataTimestamp_ set to:1758399190.112535
2025-09-20T20:13:10.114Z,1758399190.114 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.1
2025-09-20T20:13:10.115Z,1758399190.115 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-09-20T20:13:10.116Z,1758399190.116 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.456047
2025-09-20T20:13:10.169Z,1758399190.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.499569 s,
deltaX: -0.100000 m,
approachRate: -0.200172 m/s,
rangeRepo size: 4
2025-09-20T20:13:10.171Z,1758399190.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.370088 m,
bearing: 233.966454 deg,
lat: 36.779265 deg,
lon: -121.859627 deg,
deltaT: 12.851784 s,
deltaX: -2.190633 m,
approachRate: -0.170454 m/s,
posRepo size: 4
2025-09-20T20:13:10.179Z,1758399190.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.40 m.
2025-09-20T20:13:10.180Z,1758399190.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.37 m. 9.56 m.
2025-09-20T20:13:10.183Z,1758399190.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 17.170715 m,
bearing: 65.326983 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 240.147593 deg,
new cmd heading: 241.417244 deg.
2025-09-20T20:13:10.192Z,1758399190.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213526 target range: 9.560720 and range: 7.40 m.
2025-09-20T20:13:10.364Z,1758399190.364 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.704437
2025-09-20T20:13:10.481Z,1758399190.481 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:10.483Z,1758399190.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 7.40 m.
2025-09-20T20:13:10.484Z,1758399190.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:10.486Z,1758399190.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 17.401123 m,
bearing: 65.317616 deg,
approach rate: 0.731581 m/s,
LOS rate: -0.029349 deg/s,
cmd heading: 241.417244 deg,
new cmd heading: 241.398757 deg.
2025-09-20T20:13:10.487Z,1758399190.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213203 target range: 9.560720 and range: 7.40 m.
2025-09-20T20:13:10.616Z,1758399190.616 [DAT](INFO): DAT read: Rx Time:20:13:13.0576
2025-09-20T20:13:10.617Z,1758399190.617 [DAT](INFO): Rx dataTimestamp_ set to:1758399190.616430
2025-09-20T20:13:10.618Z,1758399190.618 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.3
2025-09-20T20:13:10.618Z,1758399190.618 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-09-20T20:13:10.620Z,1758399190.620 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.959995
2025-09-20T20:13:10.868Z,1758399190.868 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.208401
2025-09-20T20:13:10.925Z,1758399190.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.503895 s,
deltaX: 0.300000 m,
approachRate: 0.595362 m/s,
rangeRepo size: 4
2025-09-20T20:13:10.926Z,1758399190.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 7.70 m.
2025-09-20T20:13:10.927Z,1758399190.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:10.950Z,1758399190.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 17.693970 m,
bearing: 65.313411 deg,
approach rate: 0.662594 m/s,
LOS rate: -0.009355 deg/s,
cmd heading: 241.398747 deg,
new cmd heading: 241.390478 deg.
2025-09-20T20:13:10.966Z,1758399190.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213058 target range: 9.560720 and range: 7.70 m.
2025-09-20T20:13:11.124Z,1758399191.124 [DAT](INFO): DAT read: Rx Time:20:13:13.5576
2025-09-20T20:13:11.125Z,1758399191.125 [DAT](INFO): Rx dataTimestamp_ set to:1758399191.124606
2025-09-20T20:13:11.132Z,1758399191.132 [DAT](INFO): DAT read: Bearing 102.5, -25.5 (Local)
2025-09-20T20:13:11.133Z,1758399191.133 [DAT](INFO): Local bearing/azimuth received:
Bearing 102.5, -25.5 (Local)
2025-09-20T20:13:11.141Z,1758399191.141 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.3
2025-09-20T20:13:11.144Z,1758399191.144 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-09-20T20:13:11.149Z,1758399191.149 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.488834
2025-09-20T20:13:11.332Z,1758399191.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.508176 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:11.333Z,1758399191.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:11.340Z,1758399191.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 17.953440 m,
bearing: 65.321965 deg,
approach rate: 0.645058 m/s,
LOS rate: 0.020958 deg/s,
cmd heading: 241.390469 deg,
new cmd heading: 241.407330 deg.
2025-09-20T20:13:11.341Z,1758399191.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.213353 target range: 9.560720 and range: 7.70 m.
2025-09-20T20:13:11.380Z,1758399191.380 [DAT](INFO): DAT read: 20:13:13.5576 LVL= 28736, 18113, 19490, 26899, AGC= 60, IDX= 506, 0.32, 0.621, 0.874, 1.864, 2.355, PHS=-1.632,-1.436,-0.535, RAW= 219.7, 51.5, CAL= 219.3, 59.2, ROT= 290.7, -59.2
2025-09-20T20:13:11.382Z,1758399191.382 [DAT](INFO): got valid direction response:
20:13:13.5576 LVL= 28736, 18113, 19490, 26899, AGC= 60, IDX= 506, 0.32, 0.621, 0.874, 1.864, 2.355, PHS=-1.632,-1.436,-0.535, RAW= 219.7, 51.5, CAL= 219.3, 59.2, ROT= 290.7, -59.2
2025-09-20T20:13:11.383Z,1758399191.383 [DAT](INFO): #Rx 114: Read direction message, but no range.
2025-09-20T20:13:11.385Z,1758399191.385 [DAT](INFO): direction in FSK: [0.180994,-0.478987,0.858960]
2025-09-20T20:13:11.391Z,1758399191.391 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.730862
2025-09-20T20:13:11.628Z,1758399191.628 [DAT](INFO): DAT read: Rx Time:20:13:14.0578
2025-09-20T20:13:11.630Z,1758399191.630 [DAT](INFO): Rx dataTimestamp_ set to:1758399191.629102
2025-09-20T20:13:11.635Z,1758399191.635 [DAT](INFO): DAT read: Bearing 115.6, -36.8 (Local)
2025-09-20T20:13:11.636Z,1758399191.636 [DAT](INFO): Local bearing/azimuth received:
Bearing 115.6, -36.8 (Local)
2025-09-20T20:13:11.651Z,1758399191.651 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.0
2025-09-20T20:13:11.660Z,1758399191.660 [DAT](INFO): DAT read: 20:13:14.0578 LVL= 24032, 14497, 19762, 29299, AGC= 60, IDX= 508,-0.05, 0.076, 0.944, 1.913, 2.271, PHS=-2.094,-1.282,-0.402, RAW= 238.7, 42.4, CAL= 241.9, 50.4, ROT= 268.1, -50.4
2025-09-20T20:13:11.661Z,1758399191.661 [DAT](INFO): got valid direction response:
20:13:14.0578 LVL= 24032, 14497, 19762, 29299, AGC= 60, IDX= 508,-0.05, 0.076, 0.944, 1.913, 2.271, PHS=-2.094,-1.282,-0.402, RAW= 238.7, 42.4, CAL= 241.9, 50.4, ROT= 268.1, -50.4
2025-09-20T20:13:11.661Z,1758399191.661 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-09-20T20:13:11.662Z,1758399191.662 [DAT](INFO): direction in FSK: [-0.021134,-0.637074,0.770513]
2025-09-20T20:13:11.663Z,1758399191.663 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:11.710Z,1758399191.710 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.050755
2025-09-20T20:13:11.774Z,1758399191.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.504496 s,
deltaX: 0.300000 m,
approachRate: 0.594653 m/s,
rangeRepo size: 4
2025-09-20T20:13:11.782Z,1758399191.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.967624 m,
bearing: 142.036617 deg,
lat: 36.779264 deg,
lon: -121.859627 deg,
deltaT: 14.368351 s,
deltaX: -1.593096 m,
approachRate: -0.110875 m/s,
posRepo size: 4
2025-09-20T20:13:11.787Z,1758399191.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.97 m. 9.56 m.
2025-09-20T20:13:11.796Z,1758399191.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 18.232880 m,
bearing: 65.337835 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 241.407326 deg,
new cmd heading: 242.702779 deg.
2025-09-20T20:13:11.797Z,1758399191.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.235962 target range: 9.560720 and range: 8.00 m.
2025-09-20T20:13:11.878Z,1758399191.878 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.218048
2025-09-20T20:13:12.133Z,1758399192.133 [DAT](INFO): DAT read: Rx Time:20:13:14.5578
2025-09-20T20:13:12.135Z,1758399192.135 [DAT](INFO): Rx dataTimestamp_ set to:1758399192.133657
2025-09-20T20:13:12.139Z,1758399192.139 [DAT](INFO): DAT read: Bearing 109.7, -38.3 (Local)
2025-09-20T20:13:12.141Z,1758399192.141 [DAT](INFO): Local bearing/azimuth received:
Bearing 109.7, -38.3 (Local)
2025-09-20T20:13:12.152Z,1758399192.152 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4
2025-09-20T20:13:12.165Z,1758399192.165 [DAT](INFO): DAT read: 20:13:14.5578 LVL= 29760, 19617, 32754, 32755, AGC= 61, IDX= 508,-0.45, 1.035, 1.652, 2.692, 2.860, PHS=-1.723,-1.163,-0.212, RAW= 231.5, 39.6, CAL= 234.3, 48.6, ROT= 275.7, -48.6
2025-09-20T20:13:12.166Z,1758399192.166 [DAT](INFO): got valid direction response:
20:13:14.5578 LVL= 29760, 19617, 32754, 32755, AGC= 61, IDX= 508,-0.45, 1.035, 1.652, 2.692, 2.860, PHS=-1.723,-1.163,-0.212, RAW= 231.5, 39.6, CAL= 234.3, 48.6, ROT= 275.7, -48.6
2025-09-20T20:13:12.167Z,1758399192.167 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-09-20T20:13:12.176Z,1758399192.176 [DAT](INFO): direction in FSK: [0.065681,-0.658042,0.750111]
2025-09-20T20:13:12.176Z,1758399192.176 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:12.192Z,1758399192.192 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.532169
2025-09-20T20:13:12.334Z,1758399192.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.000000 m,
deltaT: 0.504555 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:12.340Z,1758399192.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.967599 m,
bearing: 149.630642 deg,
lat: 36.779262 deg,
lon: -121.859627 deg,
deltaT: 14.872906 s,
deltaX: -1.593121 m,
approachRate: -0.107116 m/s,
posRepo size: 4
2025-09-20T20:13:12.341Z,1758399192.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.97 m. 9.56 m.
2025-09-20T20:13:12.355Z,1758399192.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 18.593220 m,
bearing: 65.369727 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 242.702767 deg,
new cmd heading: 244.331378 deg.
2025-09-20T20:13:12.356Z,1758399192.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.264387 target range: 9.560720 and range: 8.00 m.
2025-09-20T20:13:12.381Z,1758399192.381 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.721527
2025-09-20T20:13:12.637Z,1758399192.637 [DAT](INFO): DAT read: Rx Time:20:13:15.0579
2025-09-20T20:13:12.640Z,1758399192.640 [DAT](INFO): Rx dataTimestamp_ set to:1758399192.638158
2025-09-20T20:13:12.649Z,1758399192.649 [DAT](INFO): DAT read: Bearing 137.7, -40.8 (Local)
2025-09-20T20:13:12.649Z,1758399192.649 [DAT](INFO): Local bearing/azimuth received:
Bearing 137.7, -40.8 (Local)
2025-09-20T20:13:12.675Z,1758399192.675 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4
2025-09-20T20:13:12.684Z,1758399192.684 [DAT](INFO): DAT read: 20:13:15.0579 LVL= 32752, 24481, 32754, 32755, AGC= 59, IDX= 508, 0.43, 0.273, 1.610, 1.947, 2.199, PHS=-1.824,-0.543,-0.295, RAW= 261.3, 33.5, CAL= 263.7, 42.4, ROT= 246.3, -42.4
2025-09-20T20:13:12.685Z,1758399192.685 [DAT](INFO): got valid direction response:
20:13:15.0579 LVL= 32752, 24481, 32754, 32755, AGC= 59, IDX= 508, 0.43, 0.273, 1.610, 1.947, 2.199, PHS=-1.824,-0.543,-0.295, RAW= 261.3, 33.5, CAL= 263.7, 42.4, ROT= 246.3, -42.4
2025-09-20T20:13:12.686Z,1758399192.686 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-09-20T20:13:12.687Z,1758399192.687 [DAT](INFO): direction in FSK: [-0.296820,-0.676176,0.674302]
2025-09-20T20:13:12.695Z,1758399192.695 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:12.707Z,1758399192.707 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.047672
2025-09-20T20:13:12.828Z,1758399192.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.504501 s,
deltaX: 0.100000 m,
approachRate: 0.198216 m/s,
rangeRepo size: 4
2025-09-20T20:13:12.830Z,1758399192.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.067195 m,
bearing: 122.390218 deg,
lat: 36.779253 deg,
lon: -121.859591 deg,
deltaT: 15.377407 s,
deltaX: -1.493526 m,
approachRate: -0.097125 m/s,
posRepo size: 4
2025-09-20T20:13:12.831Z,1758399192.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 8.10 m.
2025-09-20T20:13:12.836Z,1758399192.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.07 m. 9.56 m.
2025-09-20T20:13:12.838Z,1758399192.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 18.936419 m,
bearing: 65.407169 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 244.331385 deg,
new cmd heading: 245.741863 deg.
2025-09-20T20:13:12.843Z,1758399192.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.289005 target range: 9.560720 and range: 8.10 m.
2025-09-20T20:13:12.884Z,1758399192.884 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.224689
2025-09-20T20:13:13.141Z,1758399193.141 [DAT](INFO): DAT read: Rx Time:20:13:15.5579
2025-09-20T20:13:13.144Z,1758399193.144 [DAT](INFO): Rx dataTimestamp_ set to:1758399193.141833
2025-09-20T20:13:13.149Z,1758399193.149 [DAT](INFO): DAT read: Bearing 132.5, -47.3 (Local)
2025-09-20T20:13:13.150Z,1758399193.150 [DAT](INFO): Local bearing/azimuth received:
Bearing 132.5, -47.3 (Local)
2025-09-20T20:13:13.154Z,1758399193.154 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4
2025-09-20T20:13:13.176Z,1758399193.176 [DAT](INFO): DAT read: 20:13:15.5579 LVL= 32640, 22513, 24946, 32755, AGC= 59, IDX= 509,-0.22,-1.837,-0.471, 0.202, 0.226, PHS=-1.962,-0.652,-0.068, RAW= 252.5, 29.5, CAL= 255.5, 38.4, ROT= 254.5, -38.4
2025-09-20T20:13:13.177Z,1758399193.177 [DAT](INFO): got valid direction response:
20:13:15.5579 LVL= 32640, 22513, 24946, 32755, AGC= 59, IDX= 509,-0.22,-1.837,-0.471, 0.202, 0.226, PHS=-1.962,-0.652,-0.068, RAW= 252.5, 29.5, CAL= 255.5, 38.4, ROT= 254.5, -38.4
2025-09-20T20:13:13.177Z,1758399193.177 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-09-20T20:13:13.178Z,1758399193.178 [DAT](INFO): direction in FSK: [-0.209433,-0.755191,0.621148]
2025-09-20T20:13:13.178Z,1758399193.178 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:13.190Z,1758399193.190 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.530621
2025-09-20T20:13:13.248Z,1758399193.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.100000 m,
deltaT: 0.503675 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:13.250Z,1758399193.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.067144 m,
bearing: 130.685815 deg,
lat: 36.779247 deg,
lon: -121.859581 deg,
deltaT: 15.881082 s,
deltaX: -1.493576 m,
approachRate: -0.094048 m/s,
posRepo size: 4
2025-09-20T20:13:13.250Z,1758399193.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.10 m.
2025-09-20T20:13:13.255Z,1758399193.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.07 m. 9.56 m.
2025-09-20T20:13:13.258Z,1758399193.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 19.223288 m,
bearing: 65.439731 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 245.741874 deg,
new cmd heading: 246.972864 deg.
2025-09-20T20:13:13.263Z,1758399193.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.310490 target range: 9.560720 and range: 8.10 m.
2025-09-20T20:13:13.389Z,1758399193.389 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.729874
2025-09-20T20:13:13.645Z,1758399193.645 [DAT](INFO): DAT read: Rx Time:20:13:16.0581
2025-09-20T20:13:13.648Z,1758399193.648 [DAT](INFO): Rx dataTimestamp_ set to:1758399193.646269
2025-09-20T20:13:13.650Z,1758399193.650 [DAT](INFO): DAT read: Bearing 124.5, -56.4 (Local)
2025-09-20T20:13:13.650Z,1758399193.650 [DAT](INFO): Local bearing/azimuth received:
Bearing 124.5, -56.4 (Local)
2025-09-20T20:13:13.653Z,1758399193.653 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4
2025-09-20T20:13:13.661Z,1758399193.661 [DAT](INFO): DAT read: 20:13:16.0581 LVL= 27312, 22513, 25586, 28835, AGC= 61, IDX= 511, 0.36,-1.170, 0.116, 1.224, 0.917, PHS=-1.985,-0.756, 0.263, RAW= 243.1, 24.2, CAL= 246.7, 30.7, ROT= 263.3, -30.7
2025-09-20T20:13:13.662Z,1758399193.662 [DAT](INFO): got valid direction response:
20:13:16.0581 LVL= 27312, 22513, 25586, 28835, AGC= 61, IDX= 511, 0.36,-1.170, 0.116, 1.224, 0.917, PHS=-1.985,-0.756, 0.263, RAW= 243.1, 24.2, CAL= 246.7, 30.7, ROT= 263.3, -30.7
2025-09-20T20:13:13.663Z,1758399193.663 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-09-20T20:13:13.672Z,1758399193.672 [DAT](INFO): direction in FSK: [-0.100320,-0.853980,0.510543]
2025-09-20T20:13:13.672Z,1758399193.672 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:13.679Z,1758399193.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:13.682Z,1758399193.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 0.504436 s,
deltaX: 0.299999 m,
approachRate: 0.594722 m/s,
rangeRepo size: 4
2025-09-20T20:13:13.691Z,1758399193.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 8.40 m.
2025-09-20T20:13:13.692Z,1758399193.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:13.694Z,1758399193.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 19.511236 m,
bearing: 65.486471 deg,
approach rate: 0.656316 m/s,
LOS rate: 0.104963 deg/s,
cmd heading: 246.972865 deg,
new cmd heading: 247.064967 deg.
2025-09-20T20:13:13.687Z,1758399193.687 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.024307
2025-09-20T20:13:13.700Z,1758399193.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.312097 target range: 9.560720 and range: 8.40 m.
2025-09-20T20:13:13.893Z,1758399193.893 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.233540
2025-09-20T20:13:14.085Z,1758399194.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:14.093Z,1758399194.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 19.733435 m,
bearing: 65.527491 deg,
approach rate: 0.551717 m/s,
LOS rate: 0.100703 deg/s,
cmd heading: 247.064963 deg,
new cmd heading: 247.146078 deg.
2025-09-20T20:13:14.098Z,1758399194.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.313513 target range: 9.560720 and range: 8.40 m.
2025-09-20T20:13:14.150Z,1758399194.150 [DAT](INFO): DAT read: Rx Time:20:13:16.5582
2025-09-20T20:13:14.150Z,1758399194.150 [DAT](INFO): Rx dataTimestamp_ set to:1758399194.150055
2025-09-20T20:13:14.152Z,1758399194.152 [DAT](INFO): DAT read: Bearing 141.7, -59.8 (Local)
2025-09-20T20:13:14.152Z,1758399194.152 [DAT](INFO): Local bearing/azimuth received:
Bearing 141.7, -59.8 (Local)
2025-09-20T20:13:14.154Z,1758399194.154 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4
2025-09-20T20:13:14.159Z,1758399194.159 [DAT](INFO): DAT read: 20:13:16.5582 LVL= 32752, 25233, 32754, 30307, AGC= 62, IDX= 511, 0.32, 2.926,-1.663,-0.839,-1.218, PHS=-2.037,-0.400, 0.335, RAW= 252.4, 19.5, CAL= 255.3, 24.8, ROT= 254.7, -24.8
2025-09-20T20:13:14.160Z,1758399194.160 [DAT](INFO): got valid direction response:
20:13:16.5582 LVL= 32752, 25233, 32754, 30307, AGC= 62, IDX= 511, 0.32, 2.926,-1.663,-0.839,-1.218, PHS=-2.037,-0.400, 0.335, RAW= 252.4, 19.5, CAL= 255.3, 24.8, ROT= 254.7, -24.8
2025-09-20T20:13:14.160Z,1758399194.160 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-09-20T20:13:14.161Z,1758399194.161 [DAT](INFO): direction in FSK: [-0.239538,-0.875603,0.419452]
2025-09-20T20:13:14.161Z,1758399194.161 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:14.173Z,1758399194.173 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:13:14.173Z,1758399194.173 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:13:14.173Z,1758399194.173 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:14.397Z,1758399194.397 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:14.515Z,1758399194.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.600000 m,
deltaT: 0.503786 s,
deltaX: 0.200001 m,
approachRate: 0.396995 m/s,
rangeRepo size: 4
2025-09-20T20:13:14.517Z,1758399194.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.565123 m,
bearing: 133.364707 deg,
lat: 36.779241 deg,
lon: -121.859573 deg,
deltaT: 16.889304 s,
deltaX: -0.995598 m,
approachRate: -0.058948 m/s,
posRepo size: 4
2025-09-20T20:13:14.518Z,1758399194.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.60 m.
2025-09-20T20:13:14.518Z,1758399194.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.57 m. 9.56 m.
2025-09-20T20:13:14.521Z,1758399194.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 20.063433 m,
bearing: 65.572062 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 247.146078 deg,
new cmd heading: 248.395314 deg.
2025-09-20T20:13:14.522Z,1758399194.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.335316 target range: 9.560720 and range: 8.60 m.
2025-09-20T20:13:14.651Z,1758399194.651 [DAT](INFO): DAT read: Rx Time:20:13:17.0583
2025-09-20T20:13:14.652Z,1758399194.652 [DAT](INFO): Rx dataTimestamp_ set to:1758399194.651853
2025-09-20T20:13:14.654Z,1758399194.654 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.3
2025-09-20T20:13:14.655Z,1758399194.655 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:14.656Z,1758399194.656 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:14.656Z,1758399194.656 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:14.904Z,1758399194.904 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:14.912Z,1758399194.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.501798 s,
deltaX: 0.299999 m,
approachRate: 0.597849 m/s,
rangeRepo size: 4
2025-09-20T20:13:14.913Z,1758399194.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:14.916Z,1758399194.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 20.323191 m,
bearing: 65.613807 deg,
approach rate: 0.654378 m/s,
LOS rate: 0.103818 deg/s,
cmd heading: 248.395320 deg,
new cmd heading: 248.477742 deg.
2025-09-20T20:13:14.917Z,1758399194.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.336755 target range: 9.560720 and range: 8.90 m.
2025-09-20T20:13:15.157Z,1758399195.157 [DAT](INFO): DAT read: Rx Time:20:13:17.5583
2025-09-20T20:13:15.157Z,1758399195.157 [DAT](INFO): Rx dataTimestamp_ set to:1758399195.156709
2025-09-20T20:13:15.158Z,1758399195.158 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4
2025-09-20T20:13:15.159Z,1758399195.159 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:15.160Z,1758399195.160 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:15.160Z,1758399195.160 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:15.320Z,1758399195.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.504856 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:15.321Z,1758399195.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:15.323Z,1758399195.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 20.588316 m,
bearing: 65.648231 deg,
approach rate: 0.650466 m/s,
LOS rate: 0.083370 deg/s,
cmd heading: 248.477747 deg,
new cmd heading: 248.545709 deg.
2025-09-20T20:13:15.324Z,1758399195.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.337941 target range: 9.560720 and range: 8.90 m.
2025-09-20T20:13:15.409Z,1758399195.409 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:15.660Z,1758399195.660 [DAT](INFO): DAT read: Rx Time:20:13:18.0589
2025-09-20T20:13:15.661Z,1758399195.661 [DAT](INFO): Rx dataTimestamp_ set to:1758399195.660290
2025-09-20T20:13:15.662Z,1758399195.662 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4
2025-09-20T20:13:15.662Z,1758399195.662 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:15.664Z,1758399195.664 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:15.664Z,1758399195.664 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:15.741Z,1758399195.741 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:13:15.748Z,1758399195.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.503581 s,
deltaX: 0.900001 m,
approachRate: 1.787201 m/s,
rangeRepo size: 4
2025-09-20T20:13:15.749Z,1758399195.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:15.756Z,1758399195.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 20.855389 m,
bearing: 65.689995 deg,
approach rate: 0.622650 m/s,
LOS rate: 0.096122 deg/s,
cmd heading: 248.545721 deg,
new cmd heading: 248.628179 deg.
2025-09-20T20:13:15.757Z,1758399195.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.339380 target range: 9.560720 and range: 9.80 m.
2025-09-20T20:13:15.912Z,1758399195.912 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:16.165Z,1758399196.165 [DAT](INFO): DAT read: Rx Time:20:13:18.5590
2025-09-20T20:13:16.165Z,1758399196.165 [DAT](INFO): Rx dataTimestamp_ set to:1758399196.164913
2025-09-20T20:13:16.166Z,1758399196.166 [DAT](INFO): DAT read: Bearing 137.8, -28.8 (Local)
2025-09-20T20:13:16.167Z,1758399196.167 [DAT](INFO): Local bearing/azimuth received:
Bearing 137.8, -28.8 (Local)
2025-09-20T20:13:16.169Z,1758399196.169 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.4
2025-09-20T20:13:16.178Z,1758399196.178 [DAT](INFO): DAT read: 20:13:18.5590 LVL= 27184, 14625, 32754, 26787, AGC= 58, IDX= 504,-0.06,-2.423,-1.164,-0.980,-0.207, PHS=-2.114,-0.912,-0.817, RAW= 266.2, 47.3, CAL= 268.0, 54.0, ROT= 242.0, -54.0
2025-09-20T20:13:16.179Z,1758399196.179 [DAT](INFO): got valid direction response:
20:13:18.5590 LVL= 27184, 14625, 32754, 26787, AGC= 58, IDX= 504,-0.06,-2.423,-1.164,-0.980,-0.207, PHS=-2.114,-0.912,-0.817, RAW= 266.2, 47.3, CAL= 268.0, 54.0, ROT= 242.0, -54.0
2025-09-20T20:13:16.179Z,1758399196.179 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:13:16.180Z,1758399196.180 [DAT](INFO): direction in FSK: [-0.275948,-0.518984,0.809017]
2025-09-20T20:13:16.180Z,1758399196.180 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:16.196Z,1758399196.196 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:16.196Z,1758399196.196 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:16.282Z,1758399196.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.504623 s,
deltaX: 0.099999 m,
approachRate: 0.198167 m/s,
rangeRepo size: 4
2025-09-20T20:13:16.297Z,1758399196.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.859884 m,
bearing: 122.285712 deg,
lat: 36.779243 deg,
lon: -121.859573 deg,
deltaT: 18.904162 s,
deltaX: 0.299164 m,
approachRate: 0.015825 m/s,
posRepo size: 4
2025-09-20T20:13:16.300Z,1758399196.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.56 m.
2025-09-20T20:13:16.302Z,1758399196.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 21.197578 m,
bearing: 65.750727 deg,
approach rate: 0.000000 m/s,
LOS rate: 1.452898 deg/s,
cmd heading: 248.628175 deg,
new cmd heading: 250.179508 deg.
2025-09-20T20:13:16.303Z,1758399196.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.366456 target range: 9.560720 and range: 9.90 m.
2025-09-20T20:13:16.416Z,1758399196.416 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:16.611Z,1758399196.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.56 m. 9.56 m.
2025-09-20T20:13:16.614Z,1758399196.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.560720 m,
nav range: 21.404011 m,
bearing: 65.786424 deg,
approach rate: 0.676526 m/s,
LOS rate: 0.115859 deg/s,
cmd heading: 250.179502 deg,
new cmd heading: 250.250207 deg.
2025-09-20T20:13:16.615Z,1758399196.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 4.367690 target range: 9.560720 and range: 9.90 m.
2025-09-20T20:13:16.669Z,1758399196.669 [DAT](INFO): DAT read: Rx Time:20:13:19.0591
2025-09-20T20:13:16.670Z,1758399196.670 [DAT](INFO): Rx dataTimestamp_ set to:1758399196.669533
2025-09-20T20:13:16.672Z,1758399196.672 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed -0.4
2025-09-20T20:13:16.673Z,1758399196.673 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:16.674Z,1758399196.674 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:16.675Z,1758399196.675 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:16.920Z,1758399196.920 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:16.992Z,1758399196.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.100000 m,
deltaT: 0.504620 s,
deltaX: 0.200001 m,
approachRate: 0.396339 m/s,
rangeRepo size: 4
2025-09-20T20:13:16.993Z,1758399196.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): No longer in short final. Rolling out. Range: 10.10 m.
2025-09-20T20:13:16.994Z,1758399196.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2025-09-20T20:13:17.005Z,1758399197.005 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-09-20T20:13:17.005Z,1758399197.005 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-09-20T20:13:17.008Z,1758399197.008 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T20:13:17.172Z,1758399197.172 [DAT](INFO): DAT read: Rx Time:20:13:19.5592
2025-09-20T20:13:17.173Z,1758399197.173 [DAT](INFO): Rx dataTimestamp_ set to:1758399197.172371
2025-09-20T20:13:17.174Z,1758399197.174 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.6
2025-09-20T20:13:17.174Z,1758399197.174 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:17.175Z,1758399197.175 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:17.176Z,1758399197.176 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:17.412Z,1758399197.412 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1
2025-09-20T20:13:17.412Z,1758399197.412 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-09-20T20:13:17.414Z,1758399197.414 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1
2025-09-20T20:13:17.415Z,1758399197.415 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 10.100000 m (mode 5.000000 count ).
2025-09-20T20:13:17.415Z,1758399197.415 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped
2025-09-20T20:13:17.415Z,1758399197.415 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1
2025-09-20T20:13:17.417Z,1758399197.417 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2025-09-20T20:13:17.417Z,1758399197.417 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-09-20T20:13:17.418Z,1758399197.418 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2025-09-20T20:13:17.424Z,1758399197.424 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:17.433Z,1758399197.433 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 10.100000 m (mode 5.000000 count ).
2025-09-20T20:13:17.433Z,1758399197.433 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2025-09-20T20:13:17.433Z,1758399197.433 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2025-09-20T20:13:17.440Z,1758399197.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.502838 s,
deltaX: 0.099999 m,
approachRate: 0.198870 m/s,
rangeRepo size: 4
2025-09-20T20:13:17.441Z,1758399197.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:17.447Z,1758399197.447 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-09-20T20:13:17.447Z,1758399197.447 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-20T20:13:17.447Z,1758399197.447 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-09-20T20:13:17.447Z,1758399197.447 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-20T20:13:17.676Z,1758399197.676 [DAT](INFO): DAT read: Rx Time:20:13:20.0594
2025-09-20T20:13:17.677Z,1758399197.677 [DAT](INFO): Rx dataTimestamp_ set to:1758399197.676417
2025-09-20T20:13:17.678Z,1758399197.678 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4
2025-09-20T20:13:17.678Z,1758399197.678 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:17.679Z,1758399197.679 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:17.680Z,1758399197.680 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:17.804Z,1758399197.804 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped
2025-09-20T20:13:17.804Z,1758399197.804 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1
2025-09-20T20:13:17.805Z,1758399197.805 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2025-09-20T20:13:17.805Z,1758399197.805 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1
2025-09-20T20:13:17.808Z,1758399197.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.500000 m,
deltaT: 0.504046 s,
deltaX: 0.300000 m,
approachRate: 0.595184 m/s,
rangeRepo size: 4
2025-09-20T20:13:17.808Z,1758399197.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:17.928Z,1758399197.928 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:18.180Z,1758399198.180 [DAT](INFO): DAT read: Rx Time:20:13:20.5592
2025-09-20T20:13:18.181Z,1758399198.181 [DAT](INFO): Rx dataTimestamp_ set to:1758399198.180309
2025-09-20T20:13:18.182Z,1758399198.182 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.4
2025-09-20T20:13:18.182Z,1758399198.182 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:18.183Z,1758399198.183 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:18.184Z,1758399198.184 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:18.282Z,1758399198.282 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped
2025-09-20T20:13:18.282Z,1758399198.282 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1
2025-09-20T20:13:18.282Z,1758399198.282 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped
2025-09-20T20:13:18.282Z,1758399198.282 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1
2025-09-20T20:13:18.286Z,1758399198.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.200000 m,
deltaT: 0.503892 s,
deltaX: -0.300000 m,
approachRate: -0.595366 m/s,
rangeRepo size: 4
2025-09-20T20:13:18.286Z,1758399198.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:18.432Z,1758399198.432 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:18.630Z,1758399198.630 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped
2025-09-20T20:13:18.630Z,1758399198.630 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-09-20T20:13:18.630Z,1758399198.630 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped
2025-09-20T20:13:18.630Z,1758399198.630 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse
2025-09-20T20:13:18.635Z,1758399198.635 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped
2025-09-20T20:13:18.635Z,1758399198.635 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-09-20T20:13:18.635Z,1758399198.635 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2025-09-20T20:13:18.636Z,1758399198.636 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR
2025-09-20T20:13:18.638Z,1758399198.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:18.684Z,1758399198.684 [DAT](INFO): DAT read: Rx Time:20:13:21.0595
2025-09-20T20:13:18.685Z,1758399198.685 [DAT](INFO): Rx dataTimestamp_ set to:1758399198.684454
2025-09-20T20:13:18.686Z,1758399198.686 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4
2025-09-20T20:13:18.687Z,1758399198.687 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:18.687Z,1758399198.687 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:18.688Z,1758399198.688 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:13:18.936Z,1758399198.936 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:19.013Z,1758399199.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.504145 s,
deltaX: 0.500000 m,
approachRate: 0.991778 m/s,
rangeRepo size: 4
2025-09-20T20:13:19.013Z,1758399199.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:19.188Z,1758399199.188 [DAT](INFO): DAT read: user:173>
2025-09-20T20:13:19.189Z,1758399199.189 [DAT](INFO): DAT read: Command 'sbl' not found
2025-09-20T20:13:19.189Z,1758399199.189 [DAT](INFO): unknown deviceResponse_: Command 'sbl' not found
2025-09-20T20:13:19.189Z,1758399199.189 [DAT](INFO): DAT read: Error
2025-09-20T20:13:19.190Z,1758399199.190 [DAT](INFO): unknown deviceResponse_: Error
2025-09-20T20:13:19.190Z,1758399199.190 [DAT](INFO): DAT read: user:174>
2025-09-20T20:13:19.191Z,1758399199.191 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:13:19.440Z,1758399199.440 [DAT](INFO): DAT read: Tx time:20:13:22.0521
2025-09-20T20:13:19.440Z,1758399199.440 [DAT](INFO): Ping request sent.
2025-09-20T20:13:19.441Z,1758399199.441 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:13:19.441Z,1758399199.441 [DAT](INFO): publishing transmit ping time
2025-09-20T20:13:19.441Z,1758399199.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-09-20T20:13:19.449Z,1758399199.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:19.692Z,1758399199.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251392
2025-09-20T20:13:19.827Z,1758399199.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:19.944Z,1758399199.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503888
2025-09-20T20:13:20.196Z,1758399200.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755413
2025-09-20T20:13:20.249Z,1758399200.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:20.448Z,1758399200.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007378
2025-09-20T20:13:20.643Z,1758399200.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:20.701Z,1758399200.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259954
2025-09-20T20:13:20.952Z,1758399200.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511334
2025-09-20T20:13:21.032Z,1758399201.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:21.204Z,1758399201.204 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763385
2025-09-20T20:13:21.454Z,1758399201.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:21.464Z,1758399201.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023475
2025-09-20T20:13:21.716Z,1758399201.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275301
2025-09-20T20:13:21.841Z,1758399201.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:21.968Z,1758399201.968 [DAT](INFO): DAT read: Rx Time:20:13:24.1962
2025-09-20T20:13:21.969Z,1758399201.969 [DAT](INFO): Rx dataTimestamp_ set to:1758399201.968284
2025-09-20T20:13:21.970Z,1758399201.970 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -3.6
2025-09-20T20:13:21.970Z,1758399201.970 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:13:21.971Z,1758399201.971 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.530770
2025-09-20T20:13:22.220Z,1758399202.220 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.779511
2025-09-20T20:13:22.296Z,1758399202.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 3.283830 s,
deltaX: 0.600000 m,
approachRate: 0.182714 m/s,
rangeRepo size: 4
2025-09-20T20:13:22.296Z,1758399202.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:22.472Z,1758399202.472 [DAT](INFO): DAT read: Rx Time:20:13:24.6964
2025-09-20T20:13:22.473Z,1758399202.473 [DAT](INFO): Rx dataTimestamp_ set to:1758399202.472302
2025-09-20T20:13:22.474Z,1758399202.474 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -3.4
2025-09-20T20:13:22.475Z,1758399202.475 [DAT](ERROR): #Rx 2: Read range message, but no direction.
2025-09-20T20:13:22.477Z,1758399202.477 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.036023
2025-09-20T20:13:22.727Z,1758399202.727 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.286178
2025-09-20T20:13:22.746Z,1758399202.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.504018 s,
deltaX: 0.300000 m,
approachRate: 0.595217 m/s,
rangeRepo size: 4
2025-09-20T20:13:22.746Z,1758399202.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:22.977Z,1758399202.977 [DAT](INFO): DAT read: Rx Time:20:13:25.1965
2025-09-20T20:13:22.977Z,1758399202.977 [DAT](INFO): Rx dataTimestamp_ set to:1758399202.977054
2025-09-20T20:13:22.979Z,1758399202.979 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.2
2025-09-20T20:13:22.979Z,1758399202.979 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-09-20T20:13:22.980Z,1758399202.980 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.539526
2025-09-20T20:13:23.202Z,1758399203.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.504752 s,
deltaX: 0.099999 m,
approachRate: 0.198116 m/s,
rangeRepo size: 4
2025-09-20T20:13:23.202Z,1758399203.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:23.230Z,1758399203.230 [DAT](INFO): DAT read: Rx Time:20:13:25.6969
2025-09-20T20:13:23.232Z,1758399203.232 [DAT](INFO): Rx dataTimestamp_ set to:1758399203.231042
2025-09-20T20:13:23.234Z,1758399203.234 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.792949
2025-09-20T20:13:23.481Z,1758399203.481 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.4
2025-09-20T20:13:23.481Z,1758399203.481 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-09-20T20:13:23.482Z,1758399203.482 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.041770
2025-09-20T20:13:23.676Z,1758399203.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.502609 s,
deltaX: 0.600000 m,
approachRate: 1.193772 m/s,
rangeRepo size: 4
2025-09-20T20:13:23.677Z,1758399203.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:23.735Z,1758399203.735 [DAT](INFO): DAT read: Rx Time:20:13:26.1969
2025-09-20T20:13:23.737Z,1758399203.737 [DAT](INFO): Rx dataTimestamp_ set to:1758399203.736031
2025-09-20T20:13:23.741Z,1758399203.741 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.297980
2025-09-20T20:13:23.985Z,1758399203.985 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.7
2025-09-20T20:13:23.985Z,1758399203.985 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-09-20T20:13:23.986Z,1758399203.986 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.545535
2025-09-20T20:13:24.111Z,1758399204.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.300000 m,
deltaT: 0.503753 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:24.112Z,1758399204.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.56 m.
2025-09-20T20:13:24.240Z,1758399204.240 [DAT](INFO): DAT read: Rx Time:20:13:26.6971
2025-09-20T20:13:24.241Z,1758399204.241 [DAT](INFO): Rx dataTimestamp_ set to:1758399204.240225
2025-09-20T20:13:24.243Z,1758399204.243 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.802113
2025-09-20T20:13:24.489Z,1758399204.489 [DAT](INFO): DAT read: Bearing 181.4, -41.2 (Local)
2025-09-20T20:13:24.489Z,1758399204.489 [DAT](INFO): Local bearing/azimuth received:
Bearing 181.4, -41.2 (Local)
2025-09-20T20:13:24.491Z,1758399204.491 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.4
2025-09-20T20:13:24.496Z,1758399204.496 [DAT](INFO): DAT read: 20:13:26.6971 LVL= 32752, 25329, 32754, 32755, AGC= 61, IDX= 510, 0.06,-0.445, 1.988, 1.388, 1.680, PHS=-2.023, 0.354,-0.336, RAW= 286.4, 18.5, CAL= 285.7, 25.6, ROT= 224.3, -25.6
2025-09-20T20:13:24.497Z,1758399204.497 [DAT](INFO): got valid direction response:
20:13:26.6971 LVL= 32752, 25329, 32754, 32755, AGC= 61, IDX= 510, 0.06,-0.445, 1.988, 1.388, 1.680, PHS=-2.023, 0.354,-0.336, RAW= 286.4, 18.5, CAL= 285.7, 25.6, ROT= 224.3, -25.6
2025-09-20T20:13:24.497Z,1758399204.497 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-09-20T20:13:24.498Z,1758399204.498 [DAT](INFO): direction in FSK: [-0.645435,-0.629854,0.432086]
2025-09-20T20:13:24.499Z,1758399204.499 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:24.502Z,1758399204.502 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.061589
2025-09-20T20:13:24.634Z,1758399204.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.504116 s,
deltaX: 0.200000 m,
approachRate: 0.396734 m/s,
rangeRepo size: 4
2025-09-20T20:13:24.641Z,1758399204.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.448864 m,
bearing: 113.827370 deg,
lat: 36.779230 deg,
lon: -121.859582 deg,
deltaT: 27.226781 s,
deltaX: 2.888144 m,
approachRate: 0.106077 m/s,
posRepo size: 4
2025-09-20T20:13:24.641Z,1758399204.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-20T20:13:24.744Z,1758399204.744 [DAT](INFO): DAT read: Rx Time:20:13:27.1972
2025-09-20T20:13:24.745Z,1758399204.745 [DAT](INFO): Rx dataTimestamp_ set to:1758399204.744106
2025-09-20T20:13:24.748Z,1758399204.748 [DAT](INFO): DAT read: Bearing 180.3, -40.8 (Local)
2025-09-20T20:13:24.749Z,1758399204.749 [DAT](INFO): Local bearing/azimuth received:
Bearing 180.3, -40.8 (Local)
2025-09-20T20:13:24.751Z,1758399204.751 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.310583
2025-09-20T20:13:24.994Z,1758399204.994 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.5
2025-09-20T20:13:24.998Z,1758399204.998 [DAT](INFO): DAT read: 20:13:27.1972 LVL= 32752, 27505, 32754, 32755, AGC= 62, IDX= 511,-0.03, 2.985,-0.969,-1.522,-1.214, PHS=-1.982, 0.290,-0.352, RAW= 285.9, 19.6, CAL= 285.6, 26.7, ROT= 224.4, -26.7
2025-09-20T20:13:24.999Z,1758399204.999 [DAT](INFO): got valid direction response:
20:13:27.1972 LVL= 32752, 27505, 32754, 32755, AGC= 62, IDX= 511,-0.03, 2.985,-0.969,-1.522,-1.214, PHS=-1.982, 0.290,-0.352, RAW= 285.9, 19.6, CAL= 285.6, 26.7, ROT= 224.4, -26.7
2025-09-20T20:13:24.000Z,1758399205.000 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-09-20T20:13:25.001Z,1758399205.001 [DAT](INFO): direction in FSK: [-0.638290,-0.625059,0.449319]
2025-09-20T20:13:25.001Z,1758399205.001 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:25.005Z,1758399205.005 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.563947
2025-09-20T20:13:25.088Z,1758399205.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.600000 m,
deltaT: 0.503999 s,
deltaX: 0.100000 m,
approachRate: 0.198414 m/s,
rangeRepo size: 4
2025-09-20T20:13:25.090Z,1758399205.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.548310 m,
bearing: 113.894919 deg,
lat: 36.779228 deg,
lon: -121.859586 deg,
deltaT: 0.503999 s,
deltaX: 0.099446 m,
approachRate: 0.197314 m/s,
posRepo size: 4
2025-09-20T20:13:25.090Z,1758399205.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.55 m.
2025-09-20T20:13:25.250Z,1758399205.250 [DAT](INFO): DAT read: Rx Time:20:13:27.6975
2025-09-20T20:13:25.251Z,1758399205.251 [DAT](INFO): Rx dataTimestamp_ set to:1758399205.250574
2025-09-20T20:13:25.254Z,1758399205.254 [DAT](INFO): DAT read: Bearing 182.5, -40.1 (Local)
2025-09-20T20:13:25.262Z,1758399205.262 [DAT](INFO): Local bearing/azimuth received:
Bearing 182.5, -40.1 (Local)
2025-09-20T20:13:25.273Z,1758399205.273 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4
2025-09-20T20:13:25.280Z,1758399205.280 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-09-20T20:13:25.289Z,1758399205.289 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.848381
2025-09-20T20:13:25.500Z,1758399205.500 [DAT](INFO): DAT read: 20:13:27.6975 LVL= 28976, 28289, 31506, 21699, AGC= 65, IDX= 2,-0.07, 2.854,-1.123,-1.740,-1.426, PHS=-1.901, 0.348,-0.358, RAW= 287.9, 18.7, CAL= 287.2, 25.8, ROT= 222.8, -25.8
2025-09-20T20:13:25.501Z,1758399205.501 [DAT](INFO): got valid direction response:
20:13:27.6975 LVL= 28976, 28289, 31506, 21699, AGC= 65, IDX= 2,-0.07, 2.854,-1.123,-1.740,-1.426, PHS=-1.901, 0.348,-0.358, RAW= 287.9, 18.7, CAL= 287.2, 25.8, ROT= 222.8, -25.8
2025-09-20T20:13:25.501Z,1758399205.501 [DAT](INFO): #Rx 9: Read direction message, but no range.
2025-09-20T20:13:25.502Z,1758399205.502 [DAT](INFO): direction in FSK: [-0.660591,-0.611714,0.435231]
2025-09-20T20:13:25.506Z,1758399205.506 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.064959
2025-09-20T20:13:25.594Z,1758399205.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.259043 s,
deltaX: 0.500000 m,
approachRate: 1.930182 m/s,
rangeRepo size: 4
2025-09-20T20:13:25.600Z,1758399205.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.046259 m,
bearing: 112.391110 deg,
lat: 36.779221 deg,
lon: -121.859586 deg,
deltaT: 0.259043 s,
deltaX: 0.497949 m,
approachRate: 1.922263 m/s,
posRepo size: 4
2025-09-20T20:13:25.601Z,1758399205.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.05 m.
2025-09-20T20:13:25.752Z,1758399205.752 [DAT](INFO): DAT read: Rx Time:20:13:28.1975
2025-09-20T20:13:25.753Z,1758399205.753 [DAT](INFO): Rx dataTimestamp_ set to:1758399205.752229
2025-09-20T20:13:25.756Z,1758399205.756 [DAT](INFO): DAT read: Bearing 185.3, -35.6 (Local)
2025-09-20T20:13:25.757Z,1758399205.757 [DAT](INFO): Local bearing/azimuth received:
Bearing 185.3, -35.6 (Local)
2025-09-20T20:13:25.763Z,1758399205.763 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.4
2025-09-20T20:13:25.766Z,1758399205.766 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-09-20T20:13:25.770Z,1758399205.770 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.328469
2025-09-20T20:13:26.004Z,1758399206.004 [DAT](INFO): DAT read: 20:13:28.1975 LVL= 29728, 25713, 29554, 32755, AGC= 62, IDX= 499,-0.33, 2.172,-1.859,-2.657,-2.209, PHS=-1.800, 0.395,-0.492, RAW= 293.7, 19.3, CAL= 292.7, 26.0, ROT= 217.3, -26.0
2025-09-20T20:13:26.005Z,1758399206.005 [DAT](INFO): got valid direction response:
20:13:28.1975 LVL= 29728, 25713, 29554, 32755, AGC= 62, IDX= 499,-0.33, 2.172,-1.859,-2.657,-2.209, PHS=-1.800, 0.395,-0.492, RAW= 293.7, 19.3, CAL= 292.7, 26.0, ROT= 217.3, -26.0
2025-09-20T20:13:26.005Z,1758399206.005 [DAT](INFO): #Rx 11: Read direction message, but no range.
2025-09-20T20:13:26.006Z,1758399206.006 [DAT](INFO): direction in FSK: [-0.714967,-0.544659,0.438371]
2025-09-20T20:13:26.009Z,1758399206.009 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.568812
2025-09-20T20:13:26.080Z,1758399206.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.100000 m,
deltaT: 0.501655 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:26.082Z,1758399206.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.046259 m,
bearing: 107.569050 deg,
lat: 36.779221 deg,
lon: -121.859586 deg,
deltaT: 0.501655 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:26.082Z,1758399206.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.05 m.
2025-09-20T20:13:26.257Z,1758399206.257 [DAT](INFO): DAT read: Rx Time:20:13:28.6978
2025-09-20T20:13:26.259Z,1758399206.259 [DAT](INFO): Rx dataTimestamp_ set to:1758399206.257538
2025-09-20T20:13:26.262Z,1758399206.262 [DAT](INFO): DAT read: Bearing 186.9, -28.4 (Local)
2025-09-20T20:13:26.263Z,1758399206.263 [DAT](INFO): Local bearing/azimuth received:
Bearing 186.9, -28.4 (Local)
2025-09-20T20:13:26.272Z,1758399206.272 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.4
2025-09-20T20:13:26.279Z,1758399206.279 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-09-20T20:13:26.282Z,1758399206.282 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.841298
2025-09-20T20:13:26.467Z,1758399206.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.500000 m,
deltaT: 0.505309 s,
deltaX: 0.400000 m,
approachRate: 0.791594 m/s,
rangeRepo size: 4
2025-09-20T20:13:26.468Z,1758399206.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.05 m.
2025-09-20T20:13:26.508Z,1758399206.508 [DAT](INFO): DAT read: 20:13:28.6978 LVL= 32752, 26977, 32754, 32755, AGC= 62, IDX= 501, 0.27,-0.903, 1.292, 0.274, 0.951, PHS=-1.752, 0.386,-0.721, RAW= 301.2, 21.7, CAL= 300.7, 27.7, ROT= 209.3, -27.7
2025-09-20T20:13:26.509Z,1758399206.509 [DAT](INFO): got valid direction response:
20:13:28.6978 LVL= 32752, 26977, 32754, 32755, AGC= 62, IDX= 501, 0.27,-0.903, 1.292, 0.274, 0.951, PHS=-1.752, 0.386,-0.721, RAW= 301.2, 21.7, CAL= 300.7, 27.7, ROT= 209.3, -27.7
2025-09-20T20:13:26.510Z,1758399206.510 [DAT](INFO): #Rx 13: Read direction message, but no range.
2025-09-20T20:13:26.511Z,1758399206.511 [DAT](INFO): direction in FSK: [-0.772125,-0.433296,0.464842]
2025-09-20T20:13:26.516Z,1758399206.516 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.075196
2025-09-20T20:13:26.759Z,1758399206.759 [DAT](INFO): DAT read: Rx Time:20:13:29.1979
2025-09-20T20:13:26.761Z,1758399206.761 [DAT](INFO): Rx dataTimestamp_ set to:1758399206.760140
2025-09-20T20:13:26.766Z,1758399206.766 [DAT](INFO): DAT read: Bearing 191.6, -24.0 (Local)
2025-09-20T20:13:26.768Z,1758399206.768 [DAT](INFO): Local bearing/azimuth received:
Bearing 191.6, -24.0 (Local)
2025-09-20T20:13:26.773Z,1758399206.773 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.6
2025-09-20T20:13:26.775Z,1758399206.775 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-09-20T20:13:26.779Z,1758399206.779 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.337586
2025-09-20T20:13:26.909Z,1758399206.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.502602 s,
deltaX: 0.200000 m,
approachRate: 0.397929 m/s,
rangeRepo size: 4
2025-09-20T20:13:26.919Z,1758399206.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.643726 m,
bearing: 100.233758 deg,
lat: 36.779221 deg,
lon: -121.859584 deg,
deltaT: 1.007911 s,
deltaX: 0.597467 m,
approachRate: 0.592778 m/s,
posRepo size: 4
2025-09-20T20:13:26.920Z,1758399206.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m.
2025-09-20T20:13:27.012Z,1758399207.012 [DAT](INFO): DAT read: 20:13:29.1979 LVL= 30384, 24081, 30930, 32755, AGC= 63, IDX= 502, 0.01,-2.473,-0.280,-1.507,-0.757, PHS=-1.614, 0.522,-0.794, RAW= 307.6, 19.7, CAL= 306.7, 25.2, ROT= 203.3, -25.2
2025-09-20T20:13:27.013Z,1758399207.013 [DAT](INFO): got valid direction response:
20:13:29.1979 LVL= 30384, 24081, 30930, 32755, AGC= 63, IDX= 502, 0.01,-2.473,-0.280,-1.507,-0.757, PHS=-1.614, 0.522,-0.794, RAW= 307.6, 19.7, CAL= 306.7, 25.2, ROT= 203.3, -25.2
2025-09-20T20:13:27.014Z,1758399207.014 [DAT](INFO): #Rx 15: Read direction message, but no range.
2025-09-20T20:13:27.015Z,1758399207.015 [DAT](INFO): direction in FSK: [-0.831035,-0.357900,0.425779]
2025-09-20T20:13:27.018Z,1758399207.018 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.577385
2025-09-20T20:13:27.264Z,1758399207.264 [DAT](INFO): DAT read: Rx Time:20:13:29.6982
2025-09-20T20:13:27.266Z,1758399207.266 [DAT](INFO): Rx dataTimestamp_ set to:1758399207.264719
2025-09-20T20:13:27.270Z,1758399207.270 [DAT](INFO): DAT read: Bearing 193.9, -18.4 (Local)
2025-09-20T20:13:27.271Z,1758399207.271 [DAT](INFO): Local bearing/azimuth received:
Bearing 193.9, -18.4 (Local)
2025-09-20T20:13:27.276Z,1758399207.276 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4
2025-09-20T20:13:27.278Z,1758399207.278 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-09-20T20:13:27.296Z,1758399207.296 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=7.855141
2025-09-20T20:13:27.422Z,1758399207.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.504579 s,
deltaX: 0.400001 m,
approachRate: 0.792741 m/s,
rangeRepo size: 4
2025-09-20T20:13:27.425Z,1758399207.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.042111 m,
bearing: 94.608319 deg,
lat: 36.779228 deg,
lon: -121.859583 deg,
deltaT: 0.504579 s,
deltaX: 0.398385 m,
approachRate: 0.789540 m/s,
posRepo size: 4
2025-09-20T20:13:27.425Z,1758399207.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m.
2025-09-20T20:13:27.516Z,1758399207.516 [DAT](INFO): DAT read: 20:13:29.6982 LVL= 30480, 24273, 27362, 32755, AGC= 64, IDX= 505,-0.42,-0.762, 1.428,-0.005, 0.887, PHS=-1.548, 0.585,-0.936, RAW= 313.8, 19.4, CAL= 313.1, 24.5, ROT= 196.9, -24.5
2025-09-20T20:13:27.517Z,1758399207.517 [DAT](INFO): got valid direction response:
20:13:29.6982 LVL= 30480, 24273, 27362, 32755, AGC= 64, IDX= 505,-0.42,-0.762, 1.428,-0.005, 0.887, PHS=-1.548, 0.585,-0.936, RAW= 313.8, 19.4, CAL= 313.1, 24.5, ROT= 196.9, -24.5
2025-09-20T20:13:27.517Z,1758399207.517 [DAT](INFO): #Rx 17: Read direction message, but no range.
2025-09-20T20:13:27.518Z,1758399207.518 [DAT](INFO): direction in FSK: [-0.870663,-0.264528,0.414693]
2025-09-20T20:13:27.522Z,1758399207.522 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.081555
2025-09-20T20:13:27.770Z,1758399207.770 [DAT](INFO): DAT read: Rx Time:20:13:30.1982
2025-09-20T20:13:27.772Z,1758399207.772 [DAT](INFO): Rx dataTimestamp_ set to:1758399207.771138
2025-09-20T20:13:27.776Z,1758399207.776 [DAT](INFO): DAT read: Bearing 193.6, -13.4 (Local)
2025-09-20T20:13:27.778Z,1758399207.778 [DAT](INFO): Local bearing/azimuth received:
Bearing 193.6, -13.4 (Local)
2025-09-20T20:13:27.793Z,1758399207.793 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.4
2025-09-20T20:13:27.851Z,1758399207.851 [DAT](INFO): DAT read: 20:13:30.1982 LVL= 30112, 24705, 30258, 32755, AGC= 63, IDX= 505, 0.16,-0.389, 1.716, 0.172, 1.212, PHS=-1.499, 0.549,-1.084, RAW= 319.0, 21.0, CAL= 318.4, 25.9, ROT= 191.6, -25.9
2025-09-20T20:13:27.854Z,1758399207.854 [DAT](INFO): got valid direction response:
20:13:30.1982 LVL= 30112, 24705, 30258, 32755, AGC= 63, IDX= 505, 0.16,-0.389, 1.716, 0.172, 1.212, PHS=-1.499, 0.549,-1.084, RAW= 319.0, 21.0, CAL= 318.4, 25.9, ROT= 191.6, -25.9
2025-09-20T20:13:27.854Z,1758399207.854 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-20T20:13:27.865Z,1758399207.865 [DAT](INFO): direction in FSK: [-0.881185,-0.180881,0.436802]
2025-09-20T20:13:27.871Z,1758399207.871 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:27.875Z,1758399207.875 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.434151
2025-09-20T20:13:27.976Z,1758399207.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.506419 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:27.978Z,1758399207.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.042111 m,
bearing: 83.521246 deg,
lat: 36.779241 deg,
lon: -121.859579 deg,
deltaT: 0.506419 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:27.983Z,1758399207.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m.
2025-09-20T20:13:28.016Z,1758399208.016 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=8.575438
2025-09-20T20:13:28.274Z,1758399208.274 [DAT](INFO): DAT read: Rx Time:20:13:30.6984
2025-09-20T20:13:28.277Z,1758399208.277 [DAT](INFO): Rx dataTimestamp_ set to:1758399208.275453
2025-09-20T20:13:28.282Z,1758399208.282 [DAT](INFO): DAT read: Bearing 195.1, -12.2 (Local)
2025-09-20T20:13:28.284Z,1758399208.284 [DAT](INFO): Local bearing/azimuth received:
Bearing 195.1, -12.2 (Local)
2025-09-20T20:13:28.291Z,1758399208.291 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4
2025-09-20T20:13:28.293Z,1758399208.293 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-09-20T20:13:28.294Z,1758399208.294 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=8.853855
2025-09-20T20:13:28.448Z,1758399208.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.504315 s,
deltaX: 0.299999 m,
approachRate: 0.594865 m/s,
rangeRepo size: 4
2025-09-20T20:13:28.448Z,1758399208.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m.
2025-09-20T20:13:28.524Z,1758399208.524 [DAT](INFO): DAT read: 20:13:30.6984 LVL= 29152, 24689, 27506, 32755, AGC= 63, IDX= 507,-0.09,-2.517,-0.391,-2.003,-0.950, PHS=-1.466, 0.603,-1.098, RAW= 320.4, 19.9, CAL= 319.8, 24.7, ROT= 190.2, -24.7
2025-09-20T20:13:28.525Z,1758399208.525 [DAT](INFO): got valid direction response:
20:13:30.6984 LVL= 29152, 24689, 27506, 32755, AGC= 63, IDX= 507,-0.09,-2.517,-0.391,-2.003,-0.950, PHS=-1.466, 0.603,-1.098, RAW= 320.4, 19.9, CAL= 319.8, 24.7, ROT= 190.2, -24.7
2025-09-20T20:13:28.525Z,1758399208.525 [DAT](INFO): #Rx 20: Read direction message, but no range.
2025-09-20T20:13:28.526Z,1758399208.526 [DAT](INFO): direction in FSK: [-0.894150,-0.160883,0.417867]
2025-09-20T20:13:28.530Z,1758399208.530 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=9.089123
2025-09-20T20:13:28.777Z,1758399208.777 [DAT](INFO): DAT read: Rx Time:20:13:31.1984
2025-09-20T20:13:28.778Z,1758399208.778 [DAT](INFO): Rx dataTimestamp_ set to:1758399208.777284
2025-09-20T20:13:28.783Z,1758399208.783 [DAT](INFO): DAT read: Bearing 194.3, -9.5 (Local)
2025-09-20T20:13:28.784Z,1758399208.784 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.3, -9.5 (Local)
2025-09-20T20:13:28.813Z,1758399208.813 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed -0.4
2025-09-20T20:13:28.830Z,1758399208.830 [DAT](INFO): DAT read: 20:13:31.1984 LVL= 28896, 25073, 26738, 32755, AGC= 63, IDX= 507, 0.43,-2.027, 0.046,-1.616,-0.472, PHS=-1.454, 0.563,-1.188, RAW= 323.0, 21.2, CAL= 322.6, 26.0, ROT= 187.4, -26.0
2025-09-20T20:13:28.831Z,1758399208.831 [DAT](INFO): got valid direction response:
20:13:31.1984 LVL= 28896, 25073, 26738, 32755, AGC= 63, IDX= 507, 0.43,-2.027, 0.046,-1.616,-0.472, PHS=-1.454, 0.563,-1.188, RAW= 323.0, 21.2, CAL= 322.6, 26.0, ROT= 187.4, -26.0
2025-09-20T20:13:28.852Z,1758399208.852 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-20T20:13:28.853Z,1758399208.853 [DAT](INFO): direction in FSK: [-0.891308,-0.115761,0.438371]
2025-09-20T20:13:28.853Z,1758399208.853 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:28.884Z,1758399208.884 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.443119
2025-09-20T20:13:28.961Z,1758399208.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 0.501831 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:28.968Z,1758399208.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.340746 m,
bearing: 79.677986 deg,
lat: 36.779251 deg,
lon: -121.859579 deg,
deltaT: 1.006146 s,
deltaX: 0.298635 m,
approachRate: 0.296810 m/s,
posRepo size: 4
2025-09-20T20:13:28.968Z,1758399208.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.34 m.
2025-09-20T20:13:29.024Z,1758399209.024 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=9.583587
2025-09-20T20:13:29.282Z,1758399209.282 [DAT](INFO): DAT read: Rx Time:20:13:31.6987
2025-09-20T20:13:29.285Z,1758399209.285 [DAT](INFO): Rx dataTimestamp_ set to:1758399209.284332
2025-09-20T20:13:29.289Z,1758399209.289 [DAT](INFO): DAT read: Bearing 194.4, -9.7 (Local)
2025-09-20T20:13:29.290Z,1758399209.290 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.4, -9.7 (Local)
2025-09-20T20:13:29.313Z,1758399209.313 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.4
2025-09-20T20:13:29.354Z,1758399209.354 [DAT](INFO): DAT read: 20:13:31.6987 LVL= 27728, 25425, 25282, 31187, AGC= 62, IDX= 510, 0.05,-1.637, 0.456,-1.208,-0.068, PHS=-1.467, 0.569,-1.184, RAW= 322.6, 21.1, CAL= 322.2, 25.9, ROT= 187.8, -25.9
2025-09-20T20:13:29.368Z,1758399209.368 [DAT](INFO): got valid direction response:
20:13:31.6987 LVL= 27728, 25425, 25282, 31187, AGC= 62, IDX= 510, 0.05,-1.637, 0.456,-1.208,-0.068, PHS=-1.467, 0.569,-1.184, RAW= 322.6, 21.1, CAL= 322.2, 25.9, ROT= 187.8, -25.9
2025-09-20T20:13:29.368Z,1758399209.368 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-20T20:13:29.369Z,1758399209.369 [DAT](INFO): direction in FSK: [-0.891235,-0.122084,0.436802]
2025-09-20T20:13:29.369Z,1758399209.369 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:29.381Z,1758399209.381 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=9.940476
2025-09-20T20:13:29.481Z,1758399209.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.507048 s,
deltaX: 0.500000 m,
approachRate: 0.986100 m/s,
rangeRepo size: 4
2025-09-20T20:13:29.496Z,1758399209.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.838613 m,
bearing: 80.161763 deg,
lat: 36.779274 deg,
lon: -121.859579 deg,
deltaT: 0.507048 s,
deltaX: 0.497867 m,
approachRate: 0.981893 m/s,
posRepo size: 4
2025-09-20T20:13:29.496Z,1758399209.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.84 m.
2025-09-20T20:13:29.528Z,1758399209.528 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=10.087493
2025-09-20T20:13:29.785Z,1758399209.785 [DAT](INFO): DAT read: Rx Time:20:13:32.1988
2025-09-20T20:13:29.787Z,1758399209.787 [DAT](INFO): Rx dataTimestamp_ set to:1758399209.785432
2025-09-20T20:13:29.793Z,1758399209.793 [DAT](INFO): DAT read: Bearing 195.3, -11.6 (Localrip time 10.0 ms) speed -0.4
2025-09-20T20:13:29.795Z,1758399209.795 [DAT](INFO): unknown deviceResponse_: Bearing 195.3, -11.6 (Localrip time 10.0 ms) speed -0.4
2025-09-20T20:13:29.822Z,1758399209.822 [DAT](INFO): DAT read: 20:13:32.1988 LVL= 30064, 25073, 26962, 32179, AGC= 63, IDX= 511,-0.30, 1.146,-2.966, 1.657, 2.745, PHS=-1.498, 0.618,-1.132, RAW= 320.7, 20.0, CAL= 320.1, 24.8, ROT= 189.9, -24.8
2025-09-20T20:13:29.827Z,1758399209.827 [DAT](INFO): got valid direction response:
20:13:32.1988 LVL= 30064, 25073, 26962, 32179, AGC= 63, IDX= 511,-0.30, 1.146,-2.966, 1.657, 2.745, PHS=-1.498, 0.618,-1.132, RAW= 320.7, 20.0, CAL= 320.1, 24.8, ROT= 189.9, -24.8
2025-09-20T20:13:29.828Z,1758399209.828 [DAT](INFO): #Rx 23: Read direction message, but no range.
2025-09-20T20:13:29.829Z,1758399209.829 [DAT](INFO): direction in FSK: [-0.894260,-0.156073,0.419452]
2025-09-20T20:13:29.845Z,1758399209.845 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.403850
2025-09-20T20:13:29.938Z,1758399209.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.84 m.
2025-09-20T20:13:30.033Z,1758399210.033 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=10.591981
2025-09-20T20:13:30.298Z,1758399210.298 [DAT](INFO): DAT read: Rx Time:20:13:32.6990
2025-09-20T20:13:30.299Z,1758399210.299 [DAT](INFO): Rx dataTimestamp_ set to:1758399210.298369
2025-09-20T20:13:30.304Z,1758399210.304 [DAT](INFO): DAT read: Bearing 194.1, -10.9 (Local)
2025-09-20T20:13:30.305Z,1758399210.305 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.1, -10.9 (Local)
2025-09-20T20:13:30.311Z,1758399210.311 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4
2025-09-20T20:13:30.344Z,1758399210.344 [DAT](INFO): DAT read: 20:13:32.6990 LVL= 25920, 18673, 21698, 27523, AGC= 67, IDX= 1, 0.12,-1.636, 0.502,-1.144,-0.020, PHS=-1.514, 0.567,-1.167, RAW= 321.1, 21.2, CAL= 320.6, 26.0, ROT= 189.4, -26.0
2025-09-20T20:13:30.346Z,1758399210.346 [DAT](INFO): got valid direction response:
20:13:32.6990 LVL= 25920, 18673, 21698, 27523, AGC= 67, IDX= 1, 0.12,-1.636, 0.502,-1.144,-0.020, PHS=-1.514, 0.567,-1.167, RAW= 321.1, 21.2, CAL= 320.6, 26.0, ROT= 189.4, -26.0
2025-09-20T20:13:30.346Z,1758399210.346 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-20T20:13:30.356Z,1758399210.356 [DAT](INFO): direction in FSK: [-0.886725,-0.146796,0.438371]
2025-09-20T20:13:30.356Z,1758399210.356 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:30.389Z,1758399210.389 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=10.947927
2025-09-20T20:13:30.495Z,1758399210.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 1.014037 s,
deltaX: 0.400001 m,
approachRate: 0.394463 m/s,
rangeRepo size: 4
2025-09-20T20:13:30.501Z,1758399210.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.236772 m,
bearing: 81.785687 deg,
lat: 36.779277 deg,
lon: -121.859580 deg,
deltaT: 1.014037 s,
deltaX: 0.398159 m,
approachRate: 0.392647 m/s,
posRepo size: 4
2025-09-20T20:13:30.501Z,1758399210.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.24 m.
2025-09-20T20:13:30.536Z,1758399210.536 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=11.095576
2025-09-20T20:13:30.794Z,1758399210.794 [DAT](INFO): DAT read: Rx Time:20:13:33.1991
2025-09-20T20:13:30.795Z,1758399210.795 [DAT](INFO): Rx dataTimestamp_ set to:1758399210.794168
2025-09-20T20:13:30.797Z,1758399210.797 [DAT](INFO): DAT read: Bearing 195.2, -13.5 (Local)
2025-09-20T20:13:30.797Z,1758399210.797 [DAT](INFO): Local bearing/azimuth received:
Bearing 195.2, -13.5 (Local)
2025-09-20T20:13:30.800Z,1758399210.800 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.4
2025-09-20T20:13:30.816Z,1758399210.816 [DAT](INFO): DAT read: 20:13:33.1991 LVL= 25456, 25505, 24018, 29331, AGC= 64, IDX= 498,-0.27, 1.605,-2.445, 2.211,-3.030, PHS=-1.546, 0.630,-1.085, RAW= 318.4, 19.6, CAL= 317.8, 24.5, ROT= 192.2, -24.5
2025-09-20T20:13:30.818Z,1758399210.818 [DAT](INFO): got valid direction response:
20:13:33.1991 LVL= 25456, 25505, 24018, 29331, AGC= 64, IDX= 498,-0.27, 1.605,-2.445, 2.211,-3.030, PHS=-1.546, 0.630,-1.085, RAW= 318.4, 19.6, CAL= 317.8, 24.5, ROT= 192.2, -24.5
2025-09-20T20:13:30.818Z,1758399210.818 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-09-20T20:13:30.823Z,1758399210.823 [DAT](INFO): direction in FSK: [-0.889411,-0.192297,0.414693]
2025-09-20T20:13:30.823Z,1758399210.823 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:30.832Z,1758399210.832 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.386221
2025-09-20T20:13:30.948Z,1758399210.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.500000 m,
deltaT: 0.495799 s,
deltaX: 0.200000 m,
approachRate: 0.403389 m/s,
rangeRepo size: 4
2025-09-20T20:13:30.950Z,1758399210.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.435946 m,
bearing: 84.480369 deg,
lat: 36.779277 deg,
lon: -121.859580 deg,
deltaT: 0.495799 s,
deltaX: 0.199174 m,
approachRate: 0.401723 m/s,
posRepo size: 4
2025-09-20T20:13:30.951Z,1758399210.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.44 m.
2025-09-20T20:13:31.040Z,1758399211.040 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=11.599548
2025-09-20T20:13:31.298Z,1758399211.298 [DAT](INFO): DAT read: Rx Time:20:13:33.6993
2025-09-20T20:13:31.308Z,1758399211.308 [DAT](INFO): Rx dataTimestamp_ set to:1758399211.298421
2025-09-20T20:13:31.319Z,1758399211.319 [DAT](INFO): DAT read: Bearing 194.3, -13.4 (Local)
2025-09-20T20:13:31.319Z,1758399211.319 [DAT](INFO): Local bearing/azimuth received:
Bearing 194.3, -13.4 (Local)
2025-09-20T20:13:31.322Z,1758399211.322 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.4
2025-09-20T20:13:31.326Z,1758399211.326 [DAT](INFO): DAT read: 20:13:33.6993 LVL= 30032, 25809, 24882, 29939, AGC= 65, IDX= 500, 0.14,-1.795, 0.388,-1.191,-0.149, PHS=-1.544, 0.582,-1.085, RAW= 318.2, 20.5, CAL= 317.6, 25.4, ROT= 192.4, -25.4
2025-09-20T20:13:31.336Z,1758399211.336 [DAT](INFO): got valid direction response:
20:13:33.6993 LVL= 30032, 25809, 24882, 29939, AGC= 65, IDX= 500, 0.14,-1.795, 0.388,-1.191,-0.149, PHS=-1.544, 0.582,-1.085, RAW= 318.2, 20.5, CAL= 317.6, 25.4, ROT= 192.4, -25.4
2025-09-20T20:13:31.337Z,1758399211.337 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-09-20T20:13:31.367Z,1758399211.367 [DAT](INFO): direction in FSK: [-0.882263,-0.193978,0.428935]
2025-09-20T20:13:31.368Z,1758399211.368 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:31.383Z,1758399211.383 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=11.942719
2025-09-20T20:13:31.497Z,1758399211.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.504253 s,
deltaX: 0.300000 m,
approachRate: 0.594940 m/s,
rangeRepo size: 4
2025-09-20T20:13:31.504Z,1758399211.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.734654 m,
bearing: 84.772690 deg,
lat: 36.779277 deg,
lon: -121.859580 deg,
deltaT: 0.504253 s,
deltaX: 0.298709 m,
approachRate: 0.592379 m/s,
posRepo size: 4
2025-09-20T20:13:31.504Z,1758399211.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m.
2025-09-20T20:13:31.545Z,1758399211.545 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=12.104358
2025-09-20T20:13:31.797Z,1758399211.797 [DAT](INFO): DAT read: Rx Time:20:13:34.1994
2025-09-20T20:13:31.798Z,1758399211.798 [DAT](INFO): Rx dataTimestamp_ set to:1758399211.797617
2025-09-20T20:13:31.799Z,1758399211.799 [DAT](INFO): DAT read: Bearing 196.4, -15.6 (Local)
2025-09-20T20:13:31.800Z,1758399211.800 [DAT](INFO): Local bearing/azimuth received:
Bearing 196.4, -15.6 (Local)
2025-09-20T20:13:31.802Z,1758399211.802 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4
2025-09-20T20:13:31.806Z,1758399211.806 [DAT](INFO): DAT read: 20:13:34.1994 LVL= 28192, 24545, 29010, 32755, AGC= 65, IDX= 501,-0.25, 1.577,-2.371, 2.291,-3.025, PHS=-1.579, 0.699,-1.011, RAW= 316.2, 18.0, CAL= 315.3, 23.0, ROT= 194.7, -23.0
2025-09-20T20:13:31.808Z,1758399211.808 [DAT](INFO): got valid direction response:
20:13:34.1994 LVL= 28192, 24545, 29010, 32755, AGC= 65, IDX= 501,-0.25, 1.577,-2.371, 2.291,-3.025, PHS=-1.579, 0.699,-1.011, RAW= 316.2, 18.0, CAL= 315.3, 23.0, ROT= 194.7, -23.0
2025-09-20T20:13:31.808Z,1758399211.808 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-09-20T20:13:31.809Z,1758399211.809 [DAT](INFO): direction in FSK: [-0.890375,-0.233585,0.390731]
2025-09-20T20:13:31.809Z,1758399211.809 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:31.813Z,1758399211.813 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.372327
2025-09-20T20:13:31.962Z,1758399211.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.499196 s,
deltaX: 0.099999 m,
approachRate: 0.200321 m/s,
rangeRepo size: 4
2025-09-20T20:13:31.975Z,1758399211.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.834240 m,
bearing: 86.937588 deg,
lat: 36.779271 deg,
lon: -121.859579 deg,
deltaT: 0.499196 s,
deltaX: 0.099586 m,
approachRate: 0.199492 m/s,
posRepo size: 4
2025-09-20T20:13:31.976Z,1758399211.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.83 m.
2025-09-20T20:13:32.048Z,1758399212.048 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=12.607608
2025-09-20T20:13:32.305Z,1758399212.305 [DAT](INFO): DAT read: Rx Time:20:13:34.6994
2025-09-20T20:13:32.307Z,1758399212.307 [DAT](INFO): Rx dataTimestamp_ set to:1758399212.305999
2025-09-20T20:13:32.311Z,1758399212.311 [DAT](INFO): DAT read: Bearing 196.5, -13.8 (Local)
2025-09-20T20:13:32.312Z,1758399212.312 [DAT](INFO): Local bearing/azimuth received:
Bearing 196.5, -13.8 (Local)
2025-09-20T20:13:32.344Z,1758399212.344 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4
2025-09-20T20:13:32.364Z,1758399212.364 [DAT](INFO): DAT read: 20:13:34.6994 LVL= 27376, 24961, 28642, 31923, AGC= 64, IDX= 502, 0.17,-2.268,-0.017,-1.639,-0.654, PHS=-1.512, 0.682,-1.028, RAW= 317.9, 18.2, CAL= 317.1, 23.1, ROT= 192.9, -23.1
2025-09-20T20:13:32.365Z,1758399212.365 [DAT](INFO): got valid direction response:
20:13:34.6994 LVL= 27376, 24961, 28642, 31923, AGC= 64, IDX= 502, 0.17,-2.268,-0.017,-1.639,-0.654, PHS=-1.512, 0.682,-1.028, RAW= 317.9, 18.2, CAL= 317.1, 23.1, ROT= 192.9, -23.1
2025-09-20T20:13:32.365Z,1758399212.365 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-09-20T20:13:32.366Z,1758399212.366 [DAT](INFO): direction in FSK: [-0.896606,-0.205350,0.392337]
2025-09-20T20:13:32.366Z,1758399212.366 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:32.378Z,1758399212.378 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=12.937657
2025-09-20T20:13:32.446Z,1758399212.446 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032800011818,35.0, +11.6, 0.0,149
2025-09-20T20:13:32.492Z,1758399212.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.508382 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:32.494Z,1758399212.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.834426 m,
bearing: 85.214823 deg,
lat: 36.779270 deg,
lon: -121.859579 deg,
deltaT: 0.508382 s,
deltaX: 0.000186 m,
approachRate: 0.000366 m/s,
posRepo size: 4
2025-09-20T20:13:32.495Z,1758399212.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.83 m.
2025-09-20T20:13:32.552Z,1758399212.552 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=13.111518
2025-09-20T20:13:32.805Z,1758399212.805 [DAT](INFO): DAT read: Rx Time:20:13:35.1994
2025-09-20T20:13:32.805Z,1758399212.805 [DAT](INFO): Rx dataTimestamp_ set to:1758399212.804802
2025-09-20T20:13:32.806Z,1758399212.806 [DAT](INFO): DAT read: Bearing 199.2, -14.2 (Local)
2025-09-20T20:13:32.807Z,1758399212.807 [DAT](INFO): Local bearing/azimuth received:
Bearing 199.2, -14.2 (Local)
2025-09-20T20:13:32.809Z,1758399212.809 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.4
2025-09-20T20:13:32.816Z,1758399212.816 [DAT](INFO): DAT read: 20:13:35.1994 LVL= 32752, 25137, 32754, 32755, AGC= 64, IDX= 503,-0.13, 0.636, 2.976, 1.286, 2.212, PHS=-1.474, 0.808,-0.970, RAW= 317.9, 15.6, CAL= 316.9, 20.4, ROT= 193.1, -20.4
2025-09-20T20:13:32.817Z,1758399212.817 [DAT](INFO): got valid direction response:
20:13:35.1994 LVL= 32752, 25137, 32754, 32755, AGC= 64, IDX= 503,-0.13, 0.636, 2.976, 1.286, 2.212, PHS=-1.474, 0.808,-0.970, RAW= 317.9, 15.6, CAL= 316.9, 20.4, ROT= 193.1, -20.4
2025-09-20T20:13:32.818Z,1758399212.818 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-09-20T20:13:32.867Z,1758399212.867 [DAT](INFO): direction in FSK: [-0.912890,-0.212436,0.348572]
2025-09-20T20:13:32.867Z,1758399212.867 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:32.871Z,1758399212.871 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.430044
2025-09-20T20:13:33.002Z,1758399213.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.900000 m,
deltaT: 0.498803 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:33.008Z,1758399213.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.834426 m,
bearing: 85.312485 deg,
lat: 36.779268 deg,
lon: -121.859579 deg,
deltaT: 0.498803 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:33.009Z,1758399213.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.83 m.
2025-09-20T20:13:33.057Z,1758399213.057 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=13.616009
2025-09-20T20:13:33.313Z,1758399213.313 [DAT](INFO): DAT read: Rx Time:20:13:35.6997
2025-09-20T20:13:33.314Z,1758399213.314 [DAT](INFO): Rx dataTimestamp_ set to:1758399213.313434
2025-09-20T20:13:33.323Z,1758399213.323 [DAT](INFO): DAT read: Bearing 200.0, -13.0 (Local)
2025-09-20T20:13:33.325Z,1758399213.325 [DAT](INFO): Local bearing/azimuth received:
Bearing 200.0, -13.0 (Local)
2025-09-20T20:13:33.361Z,1758399213.361 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.7
2025-09-20T20:13:33.376Z,1758399213.376 [DAT](INFO): DAT read: 20:13:35.6997 LVL= 30960, 25953, 28594, 31283, AGC= 65, IDX= 505, 0.36, 3.030,-0.957,-2.653,-1.732, PHS=-1.419, 0.820,-0.965, RAW= 318.9, 15.1, CAL= 318.0, 19.7, ROT= 192.0, -19.7
2025-09-20T20:13:33.377Z,1758399213.377 [DAT](INFO): got valid direction response:
20:13:35.6997 LVL= 30960, 25953, 28594, 31283, AGC= 65, IDX= 505, 0.36, 3.030,-0.957,-2.653,-1.732, PHS=-1.419, 0.820,-0.965, RAW= 318.9, 15.1, CAL= 318.0, 19.7, ROT= 192.0, -19.7
2025-09-20T20:13:33.378Z,1758399213.378 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-20T20:13:33.379Z,1758399213.379 [DAT](INFO): direction in FSK: [-0.920897,-0.195743,0.337095]
2025-09-20T20:13:33.400Z,1758399213.400 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:33.415Z,1758399213.415 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=13.974626
2025-09-20T20:13:33.529Z,1758399213.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.508632 s,
deltaX: 0.500000 m,
approachRate: 0.983029 m/s,
rangeRepo size: 4
2025-09-20T20:13:33.535Z,1758399213.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.332069 m,
bearing: 84.238346 deg,
lat: 36.779268 deg,
lon: -121.859579 deg,
deltaT: 0.508632 s,
deltaX: 0.497643 m,
approachRate: 0.978396 m/s,
posRepo size: 4
2025-09-20T20:13:33.536Z,1758399213.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.33 m.
2025-09-20T20:13:33.560Z,1758399213.560 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.119505
2025-09-20T20:13:33.813Z,1758399213.813 [DAT](INFO): DAT read: Rx Time:20:13:36.1996
2025-09-20T20:13:33.813Z,1758399213.813 [DAT](INFO): Rx dataTimestamp_ set to:1758399213.812802
2025-09-20T20:13:33.814Z,1758399213.814 [DAT](INFO): DAT read: Bearing 202.9, -14.4 (Local)
2025-09-20T20:13:33.815Z,1758399213.815 [DAT](INFO): Local bearing/azimuth received:
Bearing 202.9, -14.4 (Local)
2025-09-20T20:13:33.817Z,1758399213.817 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.4
2025-09-20T20:13:33.822Z,1758399213.822 [DAT](INFO): DAT read: 20:13:36.1996 LVL= 30272, 23537, 28242, 29011, AGC= 66, IDX= 506,-0.04, 0.372, 2.778, 1.030, 1.897, PHS=-1.423, 0.926,-0.911, RAW= 318.0, 13.1, CAL= 316.9, 16.6, ROT= 193.1, -16.6
2025-09-20T20:13:33.823Z,1758399213.823 [DAT](INFO): got valid direction response:
20:13:36.1996 LVL= 30272, 23537, 28242, 29011, AGC= 66, IDX= 506,-0.04, 0.372, 2.778, 1.030, 1.897, PHS=-1.423, 0.926,-0.911, RAW= 318.0, 13.1, CAL= 316.9, 16.6, ROT= 193.1, -16.6
2025-09-20T20:13:33.824Z,1758399213.824 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-09-20T20:13:33.825Z,1758399213.825 [DAT](INFO): direction in FSK: [-0.933383,-0.217205,0.285688]
2025-09-20T20:13:33.825Z,1758399213.825 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:33.837Z,1758399213.837 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.395818
2025-09-20T20:13:33.917Z,1758399213.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.499368 s,
deltaX: -0.199999 m,
approachRate: -0.400504 m/s,
rangeRepo size: 4
2025-09-20T20:13:33.923Z,1758399213.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.132898 m,
bearing: 85.222638 deg,
lat: 36.779268 deg,
lon: -121.859580 deg,
deltaT: 0.499368 s,
deltaX: -0.199171 m,
approachRate: -0.398846 m/s,
posRepo size: 4
2025-09-20T20:13:33.924Z,1758399213.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.13 m.
2025-09-20T20:13:34.064Z,1758399214.064 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.623451
2025-09-20T20:13:34.241Z,1758399214.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.13 m.
2025-09-20T20:13:34.320Z,1758399214.320 [DAT](INFO): DAT read: Rx Time:20:13:36.6999
2025-09-20T20:13:34.322Z,1758399214.322 [DAT](INFO): Rx dataTimestamp_ set to:1758399214.321036
2025-09-20T20:13:34.327Z,1758399214.327 [DAT](INFO): DAT read: Bearing 206.4, -14.6 (Local)
2025-09-20T20:13:34.328Z,1758399214.328 [DAT](INFO): Local bearing/azimuth received:
Bearing 206.4, -14.6 (Local)
2025-09-20T20:13:34.348Z,1758399214.348 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.4
2025-09-20T20:13:34.393Z,1758399214.393 [DAT](INFO): DAT read: 20:13:36.6999 LVL= 28528, 24561, 28466, 31123, AGC= 66, IDX= 509,-0.41, 0.752,-3.097, 1.411, 2.214, PHS=-1.360, 1.018,-0.847, RAW= 318.2, 11.0, CAL= 316.8, 13.1, ROT= 193.2, -13.1
2025-09-20T20:13:34.394Z,1758399214.394 [DAT](INFO): got valid direction response:
20:13:36.6999 LVL= 28528, 24561, 28466, 31123, AGC= 66, IDX= 509,-0.41, 0.752,-3.097, 1.411, 2.214, PHS=-1.360, 1.018,-0.847, RAW= 318.2, 11.0, CAL= 316.8, 13.1, ROT= 193.2, -13.1
2025-09-20T20:13:34.399Z,1758399214.399 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-20T20:13:34.400Z,1758399214.400 [DAT](INFO): direction in FSK: [-0.948242,-0.222408,0.226651]
2025-09-20T20:13:34.401Z,1758399214.401 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:34.413Z,1758399214.413 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=14.972423
2025-09-20T20:13:34.571Z,1758399214.571 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.130232
2025-09-20T20:13:34.688Z,1758399214.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.700001 m,
deltaT: 0.508234 s,
deltaX: 0.500000 m,
approachRate: 0.983799 m/s,
rangeRepo size: 4
2025-09-20T20:13:34.690Z,1758399214.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.630709 m,
bearing: 85.193469 deg,
lat: 36.779268 deg,
lon: -121.859580 deg,
deltaT: 0.508234 s,
deltaX: 0.497810 m,
approachRate: 0.979490 m/s,
posRepo size: 4
2025-09-20T20:13:34.691Z,1758399214.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.63 m.
2025-09-20T20:13:34.821Z,1758399214.821 [DAT](INFO): DAT read: Rx Time:20:13:37.2000
2025-09-20T20:13:34.821Z,1758399214.821 [DAT](INFO): Rx dataTimestamp_ set to:1758399214.821184
2025-09-20T20:13:34.823Z,1758399214.823 [DAT](INFO): DAT read: Bearing 208.0, -13.7 (Local)
2025-09-20T20:13:34.824Z,1758399214.824 [DAT](INFO): Local bearing/azimuth received:
Bearing 208.0, -13.7 (Local)
2025-09-20T20:13:34.828Z,1758399214.828 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.4
2025-09-20T20:13:34.843Z,1758399214.843 [DAT](INFO): DAT read: 20:13:37.2000 LVL= 30032, 26273, 32338, 32755, AGC= 67, IDX= 509, 0.09, 0.869,-2.987, 1.491, 2.283, PHS=-1.312, 1.058,-0.836, RAW= 319.1, 10.1, CAL= 317.7, 11.6, ROT= 192.3, -11.6
2025-09-20T20:13:34.846Z,1758399214.846 [DAT](INFO): got valid direction response:
20:13:37.2000 LVL= 30032, 26273, 32338, 32755, AGC= 67, IDX= 509, 0.09, 0.869,-2.987, 1.491, 2.283, PHS=-1.312, 1.058,-0.836, RAW= 319.1, 10.1, CAL= 317.7, 11.6, ROT= 192.3, -11.6
2025-09-20T20:13:34.846Z,1758399214.846 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-20T20:13:34.860Z,1758399214.860 [DAT](INFO): direction in FSK: [-0.957090,-0.208679,0.201078]
2025-09-20T20:13:34.860Z,1758399214.860 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:34.870Z,1758399214.870 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.429556
2025-09-20T20:13:34.892Z,1758399214.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:13:35.072Z,1758399215.072 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.631516
2025-09-20T20:13:35.090Z,1758399215.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.500148 s,
deltaX: 0.099998 m,
approachRate: 0.199938 m/s,
rangeRepo size: 4
2025-09-20T20:13:35.094Z,1758399215.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.730293 m,
bearing: 84.282146 deg,
lat: 36.779268 deg,
lon: -121.859579 deg,
deltaT: 0.500148 s,
deltaX: 0.099585 m,
approachRate: 0.199110 m/s,
posRepo size: 4
2025-09-20T20:13:35.094Z,1758399215.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:35.329Z,1758399215.329 [DAT](INFO): DAT read: Rx Time:20:13:37.7001
2025-09-20T20:13:35.334Z,1758399215.334 [DAT](INFO): Rx dataTimestamp_ set to:1758399215.329707
2025-09-20T20:13:35.343Z,1758399215.343 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.2
2025-09-20T20:13:35.346Z,1758399215.346 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-09-20T20:13:35.388Z,1758399215.388 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=15.947157
2025-09-20T20:13:35.578Z,1758399215.578 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.136984
2025-09-20T20:13:35.601Z,1758399215.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.100000 m,
deltaT: 0.508523 s,
deltaX: 0.300001 m,
approachRate: 0.589946 m/s,
rangeRepo size: 4
2025-09-20T20:13:35.601Z,1758399215.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:35.830Z,1758399215.830 [DAT](INFO): DAT read: Rx Time:20:13:38.2002
2025-09-20T20:13:35.831Z,1758399215.831 [DAT](INFO): Rx dataTimestamp_ set to:1758399215.830391
2025-09-20T20:13:35.833Z,1758399215.833 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.5
2025-09-20T20:13:35.834Z,1758399215.834 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-09-20T20:13:35.836Z,1758399215.836 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.394268
2025-09-20T20:13:35.895Z,1758399215.895 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:13:36.004Z,1758399216.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.500684 s,
deltaX: 0.199999 m,
approachRate: 0.399451 m/s,
rangeRepo size: 4
2025-09-20T20:13:36.005Z,1758399216.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:36.080Z,1758399216.080 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.639433
2025-09-20T20:13:36.333Z,1758399216.333 [DAT](INFO): DAT read: Rx Time:20:13:38.7004
2025-09-20T20:13:36.334Z,1758399216.334 [DAT](INFO): Rx dataTimestamp_ set to:1758399216.333351
2025-09-20T20:13:36.337Z,1758399216.337 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.1
2025-09-20T20:13:36.339Z,1758399216.339 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-09-20T20:13:36.347Z,1758399216.347 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=16.902067
2025-09-20T20:13:36.496Z,1758399216.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.600000 m,
deltaT: 0.502960 s,
deltaX: 0.300001 m,
approachRate: 0.596471 m/s,
rangeRepo size: 4
2025-09-20T20:13:36.497Z,1758399216.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:36.584Z,1758399216.584 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.143415
2025-09-20T20:13:36.838Z,1758399216.838 [DAT](INFO): DAT read: Rx Time:20:13:39.2009
2025-09-20T20:13:36.839Z,1758399216.839 [DAT](INFO): Rx dataTimestamp_ set to:1758399216.838357
2025-09-20T20:13:36.841Z,1758399216.841 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.4
2025-09-20T20:13:36.842Z,1758399216.842 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-09-20T20:13:36.843Z,1758399216.843 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.402514
2025-09-20T20:13:36.915Z,1758399216.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.505006 s,
deltaX: 0.699999 m,
approachRate: 1.386120 m/s,
rangeRepo size: 4
2025-09-20T20:13:36.916Z,1758399216.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:37.088Z,1758399217.088 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.647331
2025-09-20T20:13:37.344Z,1758399217.344 [DAT](INFO): DAT read: Rx Time:20:13:39.7011
2025-09-20T20:13:37.346Z,1758399217.346 [DAT](INFO): Rx dataTimestamp_ set to:1758399217.344548
2025-09-20T20:13:37.355Z,1758399217.355 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.4
2025-09-20T20:13:37.357Z,1758399217.357 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-09-20T20:13:37.366Z,1758399217.366 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=17.924894
2025-09-20T20:13:37.416Z,1758399217.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.506191 s,
deltaX: 0.300001 m,
approachRate: 0.592664 m/s,
rangeRepo size: 4
2025-09-20T20:13:37.416Z,1758399217.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:37.593Z,1758399217.593 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.152012
2025-09-20T20:13:37.845Z,1758399217.845 [DAT](INFO): DAT read: Rx Time:20:13:40.2012
2025-09-20T20:13:37.846Z,1758399217.846 [DAT](INFO): Rx dataTimestamp_ set to:1758399217.845563
2025-09-20T20:13:37.848Z,1758399217.848 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.3
2025-09-20T20:13:37.849Z,1758399217.849 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-09-20T20:13:37.851Z,1758399217.851 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.410069
2025-09-20T20:13:37.940Z,1758399217.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.501015 s,
deltaX: 0.199999 m,
approachRate: 0.399187 m/s,
rangeRepo size: 4
2025-09-20T20:13:37.940Z,1758399217.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:38.096Z,1758399218.096 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.655415
2025-09-20T20:13:38.350Z,1758399218.350 [DAT](INFO): DAT read: Rx Time:20:13:40.7010
2025-09-20T20:13:38.350Z,1758399218.350 [DAT](INFO): Rx dataTimestamp_ set to:1758399218.349763
2025-09-20T20:13:38.354Z,1758399218.354 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.4
2025-09-20T20:13:38.356Z,1758399218.356 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-09-20T20:13:38.357Z,1758399218.357 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=18.916250
2025-09-20T20:13:38.499Z,1758399218.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.500000 m,
deltaT: 0.504200 s,
deltaX: -0.299999 m,
approachRate: -0.595000 m/s,
rangeRepo size: 4
2025-09-20T20:13:38.499Z,1758399218.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:38.601Z,1758399218.601 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.160084
2025-09-20T20:13:38.828Z,1758399218.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:38.852Z,1758399218.852 [DAT](INFO): DAT read: Rx Time:20:13:41.2014
2025-09-20T20:13:38.853Z,1758399218.853 [DAT](INFO): Rx dataTimestamp_ set to:1758399218.852423
2025-09-20T20:13:38.854Z,1758399218.854 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.4
2025-09-20T20:13:38.855Z,1758399218.855 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-09-20T20:13:38.856Z,1758399218.856 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.414915
2025-09-20T20:13:39.104Z,1758399219.104 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.663364
2025-09-20T20:13:39.212Z,1758399219.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 0.502660 s,
deltaX: 0.400000 m,
approachRate: 0.795766 m/s,
rangeRepo size: 4
2025-09-20T20:13:39.213Z,1758399219.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:39.357Z,1758399219.357 [DAT](INFO): DAT read: Rx Time:20:13:41.7013
2025-09-20T20:13:39.357Z,1758399219.357 [DAT](INFO): Rx dataTimestamp_ set to:1758399219.357214
2025-09-20T20:13:39.359Z,1758399219.359 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4
2025-09-20T20:13:39.359Z,1758399219.359 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-09-20T20:13:39.360Z,1758399219.360 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=19.919743
2025-09-20T20:13:39.608Z,1758399219.608 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.167406
2025-09-20T20:13:39.677Z,1758399219.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.504791 s,
deltaX: -0.100000 m,
approachRate: -0.198103 m/s,
rangeRepo size: 4
2025-09-20T20:13:39.677Z,1758399219.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:39.863Z,1758399219.863 [DAT](INFO): DAT read: Rx Time:20:13:42.2017
2025-09-20T20:13:39.864Z,1758399219.864 [DAT](INFO): Rx dataTimestamp_ set to:1758399219.863257
2025-09-20T20:13:39.865Z,1758399219.865 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.4
2025-09-20T20:13:39.866Z,1758399219.866 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-09-20T20:13:39.868Z,1758399219.868 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.427086
2025-09-20T20:13:40.087Z,1758399220.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.506043 s,
deltaX: 0.600000 m,
approachRate: 1.185671 m/s,
rangeRepo size: 4
2025-09-20T20:13:40.088Z,1758399220.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:13:40.112Z,1758399220.112 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.671644
2025-09-20T20:13:40.365Z,1758399220.365 [DAT](INFO): DAT read: Rx Time:20:13:42.7015
2025-09-20T20:13:40.365Z,1758399220.365 [DAT](INFO): Rx dataTimestamp_ set to:1758399220.364778
2025-09-20T20:13:40.366Z,1758399220.366 [DAT](INFO): DAT read: Bearing 221.3, -45.6 (Local)
2025-09-20T20:13:40.367Z,1758399220.367 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.3, -45.6 (Local)
2025-09-20T20:13:40.369Z,1758399220.369 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.4
2025-09-20T20:13:40.373Z,1758399220.373 [DAT](INFO): DAT read: 20:13:42.7015 LVL= 28480, 16801, 18354, 29027, AGC= 67, IDX= 509,-0.35,-0.503, 1.731, 1.253, 0.914, PHS=-1.315, 0.862, 0.294, RAW= 284.6, 1.6, CAL= 283.3, -3.6, ROT= 226.7, 3.6
2025-09-20T20:13:40.374Z,1758399220.374 [DAT](INFO): got valid direction response:
20:13:42.7015 LVL= 28480, 16801, 18354, 29027, AGC= 67, IDX= 509,-0.35,-0.503, 1.731, 1.253, 0.914, PHS=-1.315, 0.862, 0.294, RAW= 284.6, 1.6, CAL= 283.3, -3.6, ROT= 226.7, 3.6
2025-09-20T20:13:40.375Z,1758399220.375 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-09-20T20:13:40.376Z,1758399220.376 [DAT](INFO): direction in FSK: [-0.684465,-0.726337,-0.062791]
2025-09-20T20:13:40.376Z,1758399220.376 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:40.388Z,1758399220.388 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=20.947741
2025-09-20T20:13:40.590Z,1758399220.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.100000 m,
deltaT: 0.501521 s,
deltaX: -0.299999 m,
approachRate: -0.598179 m/s,
rangeRepo size: 4
2025-09-20T20:13:40.592Z,1758399220.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.020298 m,
bearing: 117.996831 deg,
lat: 36.779268 deg,
lon: -121.859579 deg,
deltaT: 5.543594 s,
deltaX: 2.290005 m,
approachRate: 0.413090 m/s,
posRepo size: 4
2025-09-20T20:13:40.593Z,1758399220.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-09-20T20:13:40.616Z,1758399220.616 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.175251
2025-09-20T20:13:40.869Z,1758399220.869 [DAT](INFO): DAT read: Rx Time:20:13:43.2015
2025-09-20T20:13:40.869Z,1758399220.869 [DAT](INFO): Rx dataTimestamp_ set to:1758399220.868764
2025-09-20T20:13:40.870Z,1758399220.870 [DAT](INFO): DAT read: Bearing 209.4, -48.2 (Local)
2025-09-20T20:13:40.871Z,1758399220.871 [DAT](INFO): Local bearing/azimuth received:
Bearing 209.4, -48.2 (Local)
2025-09-20T20:13:40.873Z,1758399220.873 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.1
2025-09-20T20:13:40.881Z,1758399220.881 [DAT](INFO): DAT read: 20:13:43.2015 LVL= 25584, 17201, 16626, 23731, AGC= 68, IDX= 509,-0.06,-1.407, 0.597, 0.289, 0.067, PHS=-1.372, 0.575, 0.178, RAW= 281.1, 7.0, CAL= 279.4, 4.2, ROT= 230.6, -4.2
2025-09-20T20:13:40.882Z,1758399220.882 [DAT](INFO): got valid direction response:
20:13:43.2015 LVL= 25584, 17201, 16626, 23731, AGC= 68, IDX= 509,-0.06,-1.407, 0.597, 0.289, 0.067, PHS=-1.372, 0.575, 0.178, RAW= 281.1, 7.0, CAL= 279.4, 4.2, ROT= 230.6, -4.2
2025-09-20T20:13:40.882Z,1758399220.882 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-09-20T20:13:40.908Z,1758399220.908 [DAT](INFO): direction in FSK: [-0.633026,-0.770658,0.073238]
2025-09-20T20:13:40.908Z,1758399220.908 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:40.916Z,1758399220.916 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.475006
2025-09-20T20:13:41.044Z,1758399221.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.100000 m,
deltaT: 0.503986 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:41.046Z,1758399221.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.020298 m,
bearing: 122.417919 deg,
lat: 36.779268 deg,
lon: -121.859580 deg,
deltaT: 0.503986 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:41.046Z,1758399221.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.02 m.
2025-09-20T20:13:41.121Z,1758399221.121 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.680155
2025-09-20T20:13:41.372Z,1758399221.372 [DAT](INFO): DAT read: Rx Time:20:13:43.7017
2025-09-20T20:13:41.373Z,1758399221.373 [DAT](INFO): Rx dataTimestamp_ set to:1758399221.372677
2025-09-20T20:13:41.374Z,1758399221.374 [DAT](INFO): DAT read: Bearing 210.4, -43.8 (Local)
2025-09-20T20:13:41.375Z,1758399221.375 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.4, -43.8 (Local)
2025-09-20T20:13:41.377Z,1758399221.377 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.4
2025-09-20T20:13:41.387Z,1758399221.387 [DAT](INFO): DAT read: 20:13:43.7017 LVL= 32752, 18545, 22738, 32755, AGC= 68, IDX= 511, 0.15, 2.044,-2.296,-2.724,-2.861, PHS=-1.276, 0.611, 0.093, RAW= 285.4, 6.8, CAL= 283.5, 4.3, ROT= 226.5, -4.3
2025-09-20T20:13:41.388Z,1758399221.388 [DAT](INFO): got valid direction response:
20:13:43.7017 LVL= 32752, 18545, 22738, 32755, AGC= 68, IDX= 511, 0.15, 2.044,-2.296,-2.724,-2.861, PHS=-1.276, 0.611, 0.093, RAW= 285.4, 6.8, CAL= 283.5, 4.3, ROT= 226.5, -4.3
2025-09-20T20:13:41.389Z,1758399221.389 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-09-20T20:13:41.390Z,1758399221.390 [DAT](INFO): direction in FSK: [-0.686417,-0.723333,0.074979]
2025-09-20T20:13:41.390Z,1758399221.390 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:41.394Z,1758399221.394 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=21.952963
2025-09-20T20:13:41.607Z,1758399221.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.503913 s,
deltaX: 0.299999 m,
approachRate: 0.595339 m/s,
rangeRepo size: 4
2025-09-20T20:13:41.610Z,1758399221.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.318956 m,
bearing: 118.380825 deg,
lat: 36.779172 deg,
lon: -121.859600 deg,
deltaT: 0.503913 s,
deltaX: 0.298658 m,
approachRate: 0.592678 m/s,
posRepo size: 4
2025-09-20T20:13:41.610Z,1758399221.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-09-20T20:13:41.624Z,1758399221.624 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.183409
2025-09-20T20:13:41.877Z,1758399221.877 [DAT](INFO): DAT read: Rx Time:20:13:44.2017
2025-09-20T20:13:41.877Z,1758399221.877 [DAT](INFO): Rx dataTimestamp_ set to:1758399221.877022
2025-09-20T20:13:41.879Z,1758399221.879 [DAT](INFO): DAT read: Bearing 201.5, -32.8 (Local)
2025-09-20T20:13:41.879Z,1758399221.879 [DAT](INFO): Local bearing/azimuth received:
Bearing 201.5, -32.8 (Local)
2025-09-20T20:13:41.881Z,1758399221.881 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.4
2025-09-20T20:13:41.890Z,1758399221.890 [DAT](INFO): DAT read: 20:13:44.2017 LVL= 30304, 19393, 19330, 27411, AGC= 69, IDX= 511, 0.44, 0.849, 2.787, 2.074, 2.216, PHS=-1.265, 0.616,-0.186, RAW= 295.2, 10.2, CAL= 292.6, 13.3, ROT= 217.4, -13.3
2025-09-20T20:13:41.891Z,1758399221.891 [DAT](INFO): got valid direction response:
20:13:44.2017 LVL= 30304, 19393, 19330, 27411, AGC= 69, IDX= 511, 0.44, 0.849, 2.787, 2.074, 2.216, PHS=-1.265, 0.616,-0.186, RAW= 295.2, 10.2, CAL= 292.6, 13.3, ROT= 217.4, -13.3
2025-09-20T20:13:41.891Z,1758399221.891 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-09-20T20:13:41.892Z,1758399221.892 [DAT](INFO): direction in FSK: [-0.773108,-0.591085,0.230050]
2025-09-20T20:13:41.892Z,1758399221.892 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:41.908Z,1758399221.908 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.467554
2025-09-20T20:13:41.913Z,1758399221.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.504345 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:41.919Z,1758399221.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.318956 m,
bearing: 110.058335 deg,
lat: 36.779172 deg,
lon: -121.859600 deg,
deltaT: 0.504345 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:41.920Z,1758399221.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-09-20T20:13:42.129Z,1758399222.129 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.687988
2025-09-20T20:13:42.353Z,1758399222.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-09-20T20:13:42.385Z,1758399222.385 [DAT](INFO): DAT read: Rx Time:20:13:44.7020
2025-09-20T20:13:42.385Z,1758399222.385 [DAT](INFO): Rx dataTimestamp_ set to:1758399222.385082
2025-09-20T20:13:42.387Z,1758399222.387 [DAT](INFO): DAT read: Bearing 195.6, -25.8 (Local)
2025-09-20T20:13:42.388Z,1758399222.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 195.6, -25.8 (Local)
2025-09-20T20:13:42.390Z,1758399222.390 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.6
2025-09-20T20:13:42.395Z,1758399222.395 [DAT](INFO): DAT read: 20:13:44.7020 LVL= 32752, 32753, 32754, 32227, AGC= 66, IDX= 2,-0.16, 0.563, 2.388, 1.577, 1.893, PHS=-1.228, 0.540,-0.360, RAW= 300.6, 13.6, CAL= 298.0, 20.0, ROT= 212.0, -20.0
2025-09-20T20:13:42.396Z,1758399222.396 [DAT](INFO): got valid direction response:
20:13:44.7020 LVL= 32752, 32753, 32754, 32227, AGC= 66, IDX= 2,-0.16, 0.563, 2.388, 1.577, 1.893, PHS=-1.228, 0.540,-0.360, RAW= 300.6, 13.6, CAL= 298.0, 20.0, ROT= 212.0, -20.0
2025-09-20T20:13:42.396Z,1758399222.396 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-09-20T20:13:42.397Z,1758399222.397 [DAT](INFO): direction in FSK: [-0.796905,-0.497961,0.342020]
2025-09-20T20:13:42.398Z,1758399222.398 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:42.402Z,1758399222.402 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=22.960995
2025-09-20T20:13:42.632Z,1758399222.632 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.191509
2025-09-20T20:13:42.720Z,1758399222.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.799999 m,
deltaT: 0.508060 s,
deltaX: 0.400000 m,
approachRate: 0.787308 m/s,
rangeRepo size: 4
2025-09-20T20:13:42.722Z,1758399222.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.717140 m,
bearing: 105.443672 deg,
lat: 36.779172 deg,
lon: -121.859600 deg,
deltaT: 0.508060 s,
deltaX: 0.398184 m,
approachRate: 0.783734 m/s,
posRepo size: 4
2025-09-20T20:13:42.723Z,1758399222.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.72 m.
2025-09-20T20:13:42.885Z,1758399222.885 [DAT](INFO): DAT read: Rx Time:20:13:45.2020
2025-09-20T20:13:42.885Z,1758399222.885 [DAT](INFO): Rx dataTimestamp_ set to:1758399222.884896
2025-09-20T20:13:42.886Z,1758399222.886 [DAT](INFO): DAT read: Bearing 204.0, -21.3 (Local)
2025-09-20T20:13:42.887Z,1758399222.887 [DAT](INFO): Local bearing/azimuth received:
Bearing 204.0, -21.3 (Local)
2025-09-20T20:13:42.889Z,1758399222.889 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.4
2025-09-20T20:13:42.894Z,1758399222.894 [DAT](INFO): DAT read: 20:13:45.2020 LVL= 31632, 16193, 21426, 28515, AGC= 68, IDX= 498, 0.05, 1.334,-2.924, 2.285, 2.663, PHS=-1.227, 0.741,-0.423, RAW= 306.0, 10.6, CAL= 303.8, 13.4, ROT= 206.2, -13.4
2025-09-20T20:13:42.895Z,1758399222.895 [DAT](INFO): got valid direction response:
20:13:45.2020 LVL= 31632, 16193, 21426, 28515, AGC= 68, IDX= 498, 0.05, 1.334,-2.924, 2.285, 2.663, PHS=-1.227, 0.741,-0.423, RAW= 306.0, 10.6, CAL= 303.8, 13.4, ROT= 206.2, -13.4
2025-09-20T20:13:42.895Z,1758399222.895 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-09-20T20:13:42.896Z,1758399222.896 [DAT](INFO): direction in FSK: [-0.872831,-0.429486,0.231748]
2025-09-20T20:13:42.896Z,1758399222.896 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:42.908Z,1758399222.908 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.467646
2025-09-20T20:13:43.125Z,1758399223.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.799999 m,
deltaT: 0.499814 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:43.131Z,1758399223.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.717140 m,
bearing: 99.093009 deg,
lat: 36.779194 deg,
lon: -121.859596 deg,
deltaT: 0.499814 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:43.132Z,1758399223.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.72 m.
2025-09-20T20:13:43.136Z,1758399223.136 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.695505
2025-09-20T20:13:43.389Z,1758399223.389 [DAT](INFO): DAT read: Rx Time:20:13:45.7021
2025-09-20T20:13:43.389Z,1758399223.389 [DAT](INFO): Rx dataTimestamp_ set to:1758399223.388806
2025-09-20T20:13:43.390Z,1758399223.390 [DAT](INFO): DAT read: Bearing 207.8, -20.3 (Local)
2025-09-20T20:13:43.391Z,1758399223.391 [DAT](INFO): Local bearing/azimuth received:
Bearing 207.8, -20.3 (Local)
2025-09-20T20:13:43.393Z,1758399223.393 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.3
2025-09-20T20:13:43.397Z,1758399223.397 [DAT](INFO): DAT read: 20:13:45.7021 LVL= 31328, 20977, 23922, 30195, AGC= 69, IDX= 499, 0.25, 2.438,-1.791,-2.917,-2.562, PHS=-1.181, 0.816,-0.399, RAW= 307.1, 8.8, CAL= 305.0, 10.0, ROT= 205.0, -10.0
2025-09-20T20:13:43.398Z,1758399223.398 [DAT](INFO): got valid direction response:
20:13:45.7021 LVL= 31328, 20977, 23922, 30195, AGC= 69, IDX= 499, 0.25, 2.438,-1.791,-2.917,-2.562, PHS=-1.181, 0.816,-0.399, RAW= 307.1, 8.8, CAL= 305.0, 10.0, ROT= 205.0, -10.0
2025-09-20T20:13:43.399Z,1758399223.399 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-09-20T20:13:43.400Z,1758399223.400 [DAT](INFO): direction in FSK: [-0.892539,-0.416198,0.173648]
2025-09-20T20:13:43.400Z,1758399223.400 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:43.420Z,1758399223.420 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=23.979317
2025-09-20T20:13:43.622Z,1758399223.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.000000 m,
deltaT: 0.503910 s,
deltaX: 0.200001 m,
approachRate: 0.396898 m/s,
rangeRepo size: 4
2025-09-20T20:13:43.628Z,1758399223.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.916290 m,
bearing: 97.632914 deg,
lat: 36.779207 deg,
lon: -121.859594 deg,
deltaT: 0.503910 s,
deltaX: 0.199150 m,
approachRate: 0.395210 m/s,
posRepo size: 4
2025-09-20T20:13:43.629Z,1758399223.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-09-20T20:13:43.640Z,1758399223.640 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.199476
2025-09-20T20:13:43.893Z,1758399223.893 [DAT](INFO): DAT read: Rx Time:20:13:46.2021
2025-09-20T20:13:43.893Z,1758399223.893 [DAT](INFO): Rx dataTimestamp_ set to:1758399223.892869
2025-09-20T20:13:43.894Z,1758399223.894 [DAT](INFO): DAT read: Bearing 207.0, -16.3 (Local)
2025-09-20T20:13:43.895Z,1758399223.895 [DAT](INFO): Local bearing/azimuth received:
Bearing 207.0, -16.3 (Local)
2025-09-20T20:13:43.897Z,1758399223.897 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.1
2025-09-20T20:13:43.902Z,1758399223.902 [DAT](INFO): DAT read: 20:13:46.2021 LVL= 30480, 16977, 21570, 31987, AGC= 68, IDX= 499, 0.46, 1.556,-2.732, 2.361, 2.798, PHS=-1.140, 0.799,-0.480, RAW= 310.5, 9.6, CAL= 308.5, 11.4, ROT= 201.5, -11.4
2025-09-20T20:13:43.903Z,1758399223.903 [DAT](INFO): got valid direction response:
20:13:46.2021 LVL= 30480, 16977, 21570, 31987, AGC= 68, IDX= 499, 0.46, 1.556,-2.732, 2.361, 2.798, PHS=-1.140, 0.799,-0.480, RAW= 310.5, 9.6, CAL= 308.5, 11.4, ROT= 201.5, -11.4
2025-09-20T20:13:43.904Z,1758399223.904 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-09-20T20:13:43.905Z,1758399223.905 [DAT](INFO): direction in FSK: [-0.912061,-0.359271,0.197657]
2025-09-20T20:13:43.905Z,1758399223.905 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:43.913Z,1758399223.913 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.472176
2025-09-20T20:13:43.916Z,1758399223.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.000000 m,
deltaT: 0.504063 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:43.918Z,1758399223.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.916290 m,
bearing: 94.296287 deg,
lat: 36.779224 deg,
lon: -121.859587 deg,
deltaT: 0.504063 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:43.919Z,1758399223.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.92 m.
2025-09-20T20:13:44.148Z,1758399224.148 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.707462
2025-09-20T20:13:44.400Z,1758399224.400 [DAT](INFO): DAT read: Rx Time:20:13:46.7023
2025-09-20T20:13:44.401Z,1758399224.401 [DAT](INFO): Rx dataTimestamp_ set to:1758399224.400686
2025-09-20T20:13:44.402Z,1758399224.402 [DAT](INFO): DAT read: Bearing 210.0, -15.8 (Local)
2025-09-20T20:13:44.403Z,1758399224.403 [DAT](INFO): Local bearing/azimuth received:
Bearing 210.0, -15.8 (Local)
2025-09-20T20:13:44.405Z,1758399224.405 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1
2025-09-20T20:13:44.410Z,1758399224.410 [DAT](INFO): DAT read: 20:13:46.7023 LVL= 32752, 22305, 28514, 32755, AGC= 67, IDX= 502,-0.17, 0.981,-3.136, 1.828, 2.266, PHS=-1.183, 0.926,-0.483, RAW= 311.0, 8.0, CAL= 308.9, 8.5, ROT= 201.1, -8.5
2025-09-20T20:13:44.411Z,1758399224.411 [DAT](INFO): got valid direction response:
20:13:46.7023 LVL= 32752, 22305, 28514, 32755, AGC= 67, IDX= 502,-0.17, 0.981,-3.136, 1.828, 2.266, PHS=-1.183, 0.926,-0.483, RAW= 311.0, 8.0, CAL= 308.9, 8.5, ROT= 201.1, -8.5
2025-09-20T20:13:44.411Z,1758399224.411 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-09-20T20:13:44.412Z,1758399224.412 [DAT](INFO): direction in FSK: [-0.922706,-0.356043,0.147809]
2025-09-20T20:13:44.412Z,1758399224.412 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:44.416Z,1758399224.416 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=24.975513
2025-09-20T20:13:44.551Z,1758399224.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.299999 m,
deltaT: 0.507817 s,
deltaX: 0.299999 m,
approachRate: 0.590762 m/s,
rangeRepo size: 4
2025-09-20T20:13:44.553Z,1758399224.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.215128 m,
bearing: 93.685194 deg,
lat: 36.779228 deg,
lon: -121.859585 deg,
deltaT: 0.507817 s,
deltaX: 0.298838 m,
approachRate: 0.588475 m/s,
posRepo size: 4
2025-09-20T20:13:44.554Z,1758399224.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.22 m.
2025-09-20T20:13:44.652Z,1758399224.652 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.211563
2025-09-20T20:13:44.891Z,1758399224.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.22 m.
2025-09-20T20:13:44.905Z,1758399224.905 [DAT](INFO): DAT read: Rx Time:20:13:47.2023
2025-09-20T20:13:44.905Z,1758399224.905 [DAT](INFO): Rx dataTimestamp_ set to:1758399224.904942
2025-09-20T20:13:44.906Z,1758399224.906 [DAT](INFO): DAT read: Bearing 213.1, -14.6 (Local)
2025-09-20T20:13:44.907Z,1758399224.907 [DAT](INFO): Local bearing/azimuth received:
Bearing 213.1, -14.6 (Local)
2025-09-20T20:13:44.909Z,1758399224.909 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.4
2025-09-20T20:13:44.914Z,1758399224.914 [DAT](INFO): DAT read: 20:13:47.2023 LVL= 32752, 22593, 32754, 32755, AGC= 68, IDX= 502, 0.06, 1.411,-2.713, 2.214, 2.626, PHS=-1.113, 0.988,-0.457, RAW= 312.2, 6.3, CAL= 310.1, 5.6, ROT= 199.9, -5.6
2025-09-20T20:13:44.915Z,1758399224.915 [DAT](INFO): got valid direction response:
20:13:47.2023 LVL= 32752, 22593, 32754, 32755, AGC= 68, IDX= 502, 0.06, 1.411,-2.713, 2.214, 2.626, PHS=-1.113, 0.988,-0.457, RAW= 312.2, 6.3, CAL= 310.1, 5.6, ROT= 199.9, -5.6
2025-09-20T20:13:44.915Z,1758399224.915 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-09-20T20:13:44.916Z,1758399224.916 [DAT](INFO): direction in FSK: [-0.935801,-0.338755,0.097583]
2025-09-20T20:13:44.916Z,1758399224.916 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:44.924Z,1758399224.924 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.483500
2025-09-20T20:13:45.156Z,1758399225.156 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.715439
2025-09-20T20:13:45.372Z,1758399225.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.299999 m,
deltaT: 0.504256 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:45.374Z,1758399225.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.215038 m,
bearing: 92.360401 deg,
lat: 36.779238 deg,
lon: -121.859583 deg,
deltaT: 0.504256 s,
deltaX: -0.000090 m,
approachRate: -0.000178 m/s,
posRepo size: 4
2025-09-20T20:13:45.374Z,1758399225.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.22 m.
2025-09-20T20:13:45.409Z,1758399225.409 [DAT](INFO): DAT read: Rx Time:20:13:47.7026
2025-09-20T20:13:45.410Z,1758399225.410 [DAT](INFO): Rx dataTimestamp_ set to:1758399225.408962
2025-09-20T20:13:45.412Z,1758399225.412 [DAT](INFO): DAT read: Bearing 215.4, -15.2 (Local)
2025-09-20T20:13:45.412Z,1758399225.412 [DAT](INFO): Local bearing/azimuth received:
Bearing 215.4, -15.2 (Local)
2025-09-20T20:13:45.415Z,1758399225.415 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.0
2025-09-20T20:13:45.421Z,1758399225.421 [DAT](INFO): DAT read: 20:13:47.7026 LVL= 32752, 23009, 30866, 32755, AGC= 69, IDX= 504, 0.26, 2.780,-1.327,-2.674,-2.312, PHS=-1.089, 1.030,-0.406, RAW= 311.6, 5.0, CAL= 309.3, 3.4, ROT= 200.7, -3.4
2025-09-20T20:13:45.422Z,1758399225.422 [DAT](INFO): got valid direction response:
20:13:47.7026 LVL= 32752, 23009, 30866, 32755, AGC= 69, IDX= 504, 0.26, 2.780,-1.327,-2.674,-2.312, PHS=-1.089, 1.030,-0.406, RAW= 311.6, 5.0, CAL= 309.3, 3.4, ROT= 200.7, -3.4
2025-09-20T20:13:45.422Z,1758399225.422 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-09-20T20:13:45.423Z,1758399225.423 [DAT](INFO): direction in FSK: [-0.933797,-0.352853,0.059306]
2025-09-20T20:13:45.424Z,1758399225.424 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:45.440Z,1758399225.440 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.999226
2025-09-20T20:13:45.660Z,1758399225.660 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.219488
2025-09-20T20:13:45.741Z,1758399225.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 0.504020 s,
deltaX: 0.400002 m,
approachRate: 0.793622 m/s,
rangeRepo size: 4
2025-09-20T20:13:45.766Z,1758399225.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.613365 m,
bearing: 92.987108 deg,
lat: 36.779239 deg,
lon: -121.859583 deg,
deltaT: 0.504020 s,
deltaX: 0.398327 m,
approachRate: 0.790300 m/s,
posRepo size: 4
2025-09-20T20:13:45.773Z,1758399225.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-09-20T20:13:45.913Z,1758399225.913 [DAT](INFO): DAT read: Rx Time:20:13:48.2026
2025-09-20T20:13:45.913Z,1758399225.913 [DAT](INFO): Rx dataTimestamp_ set to:1758399225.913027
2025-09-20T20:13:45.915Z,1758399225.915 [DAT](INFO): DAT read: Bearing 218.0, -16.0 (Local)
2025-09-20T20:13:45.915Z,1758399225.915 [DAT](INFO): Local bearing/azimuth received:
Bearing 218.0, -16.0 (Local)
2025-09-20T20:13:45.917Z,1758399225.917 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed -0.3
2025-09-20T20:13:45.922Z,1758399225.922 [DAT](INFO): DAT read: 20:13:48.2026 LVL= 32752, 25025, 32450, 32755, AGC= 69, IDX= 504, 0.48, 2.382,-1.747,-3.052,-2.757, PHS=-1.043, 1.055,-0.339, RAW= 310.8, 3.6, CAL= 308.4, 0.8, ROT= 201.6, -0.8
2025-09-20T20:13:45.923Z,1758399225.923 [DAT](INFO): got valid direction response:
20:13:48.2026 LVL= 32752, 25025, 32450, 32755, AGC= 69, IDX= 504, 0.48, 2.382,-1.747,-3.052,-2.757, PHS=-1.043, 1.055,-0.339, RAW= 310.8, 3.6, CAL= 308.4, 0.8, ROT= 201.6, -0.8
2025-09-20T20:13:45.923Z,1758399225.923 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-09-20T20:13:45.924Z,1758399225.924 [DAT](INFO): direction in FSK: [-0.929686,-0.368089,0.013962]
2025-09-20T20:13:45.925Z,1758399225.925 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:45.928Z,1758399225.928 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.487843
2025-09-20T20:13:46.125Z,1758399226.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.700001 m,
deltaT: 0.504065 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:46.127Z,1758399226.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.613365 m,
bearing: 93.676077 deg,
lat: 36.779239 deg,
lon: -121.859581 deg,
deltaT: 0.504065 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:46.128Z,1758399226.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.61 m.
2025-09-20T20:13:46.164Z,1758399226.164 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.723305
2025-09-20T20:13:46.417Z,1758399226.417 [DAT](INFO): DAT read: Rx Time:20:13:48.7028
2025-09-20T20:13:46.417Z,1758399226.417 [DAT](INFO): Rx dataTimestamp_ set to:1758399226.416785
2025-09-20T20:13:46.418Z,1758399226.418 [DAT](INFO): DAT read: Bearing 218.0, -17.0 (Local)
2025-09-20T20:13:46.419Z,1758399226.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 218.0, -17.0 (Local)
2025-09-20T20:13:46.421Z,1758399226.421 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.4
2025-09-20T20:13:46.425Z,1758399226.425 [DAT](INFO): DAT read: 20:13:48.7028 LVL= 32752, 29025, 32754, 32755, AGC= 70, IDX= 507,-0.15, 1.586,-2.482, 2.504, 2.779, PHS=-1.091, 1.067,-0.319, RAW= 309.3, 3.7, CAL= 306.9, 0.8, ROT= 203.1, -0.8
2025-09-20T20:13:46.426Z,1758399226.426 [DAT](INFO): got valid direction response:
20:13:48.7028 LVL= 32752, 29025, 32754, 32755, AGC= 70, IDX= 507,-0.15, 1.586,-2.482, 2.504, 2.779, PHS=-1.091, 1.067,-0.319, RAW= 309.3, 3.7, CAL= 306.9, 0.8, ROT= 203.1, -0.8
2025-09-20T20:13:46.427Z,1758399226.427 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-09-20T20:13:46.428Z,1758399226.428 [DAT](INFO): direction in FSK: [-0.919732,-0.392299,0.013962]
2025-09-20T20:13:46.428Z,1758399226.428 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:46.432Z,1758399226.432 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.991140
2025-09-20T20:13:46.660Z,1758399226.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.000000 m,
deltaT: 0.503758 s,
deltaX: 0.299999 m,
approachRate: 0.595523 m/s,
rangeRepo size: 4
2025-09-20T20:13:46.662Z,1758399226.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.912167 m,
bearing: 95.225815 deg,
lat: 36.779239 deg,
lon: -121.859580 deg,
deltaT: 0.503758 s,
deltaX: 0.298801 m,
approachRate: 0.593145 m/s,
posRepo size: 4
2025-09-20T20:13:46.662Z,1758399226.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-09-20T20:13:46.668Z,1758399226.668 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.227407
2025-09-20T20:13:46.921Z,1758399226.921 [DAT](INFO): DAT read: Rx Time:20:13:49.2029
2025-09-20T20:13:46.921Z,1758399226.921 [DAT](INFO): Rx dataTimestamp_ set to:1758399226.921055
2025-09-20T20:13:46.923Z,1758399226.923 [DAT](INFO): DAT read: Bearing 220.5, -14.5 (Local)
2025-09-20T20:13:46.924Z,1758399226.924 [DAT](INFO): Local bearing/azimuth received:
Bearing 220.5, -14.5 (Local)
2025-09-20T20:13:46.926Z,1758399226.926 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.4
2025-09-20T20:13:46.936Z,1758399226.936 [DAT](INFO): DAT read: 20:13:49.2029 LVL= 32752, 30641, 32754, 32755, AGC= 70, IDX= 507, 0.01, 1.836,-2.260, 2.675, 2.934, PHS=-0.996, 1.134,-0.303, RAW= 311.4, 1.8, CAL= 309.2, -1.3, ROT= 200.8, 1.3
2025-09-20T20:13:46.937Z,1758399226.937 [DAT](INFO): got valid direction response:
20:13:49.2029 LVL= 32752, 30641, 32754, 32755, AGC= 70, IDX= 507, 0.01, 1.836,-2.260, 2.675, 2.934, PHS=-0.996, 1.134,-0.303, RAW= 311.4, 1.8, CAL= 309.2, -1.3, ROT= 200.8, 1.3
2025-09-20T20:13:46.938Z,1758399226.938 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-09-20T20:13:46.939Z,1758399226.939 [DAT](INFO): direction in FSK: [-0.934585,-0.355016,-0.022687]
2025-09-20T20:13:46.939Z,1758399226.939 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:46.942Z,1758399226.942 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.501762
2025-09-20T20:13:47.120Z,1758399227.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.504270 s,
deltaX: 0.200001 m,
approachRate: 0.396614 m/s,
rangeRepo size: 4
2025-09-20T20:13:47.122Z,1758399227.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.111332 m,
bearing: 92.772762 deg,
lat: 36.779241 deg,
lon: -121.859579 deg,
deltaT: 0.504270 s,
deltaX: 0.199165 m,
approachRate: 0.394958 m/s,
posRepo size: 4
2025-09-20T20:13:47.122Z,1758399227.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.11 m.
2025-09-20T20:13:47.172Z,1758399227.172 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.731485
2025-09-20T20:13:47.425Z,1758399227.425 [DAT](INFO): DAT read: Rx Time:20:13:49.7030
2025-09-20T20:13:47.425Z,1758399227.425 [DAT](INFO): Rx dataTimestamp_ set to:1758399227.424730
2025-09-20T20:13:47.426Z,1758399227.426 [DAT](INFO): DAT read: Bearing 221.3, -13.6 (Local)
2025-09-20T20:13:47.427Z,1758399227.427 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.3, -13.6 (Local)
2025-09-20T20:13:47.429Z,1758399227.429 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.1
2025-09-20T20:13:47.433Z,1758399227.433 [DAT](INFO): DAT read: 20:13:49.7030 LVL= 32752, 28433, 32754, 32755, AGC= 69, IDX= 508, 0.15,-3.118,-0.909,-2.286,-2.037, PHS=-0.978, 1.174,-0.292, RAW= 311.8, 1.0, CAL= 309.8, -2.1, ROT= 200.2, 2.1
2025-09-20T20:13:47.434Z,1758399227.434 [DAT](INFO): got valid direction response:
20:13:49.7030 LVL= 32752, 28433, 32754, 32755, AGC= 69, IDX= 508, 0.15,-3.118,-0.909,-2.286,-2.037, PHS=-0.978, 1.174,-0.292, RAW= 311.8, 1.0, CAL= 309.8, -2.1, ROT= 200.2, 2.1
2025-09-20T20:13:47.435Z,1758399227.435 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-09-20T20:13:47.436Z,1758399227.436 [DAT](INFO): direction in FSK: [-0.937863,-0.345066,-0.036644]
2025-09-20T20:13:47.436Z,1758399227.436 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:47.440Z,1758399227.440 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.999128
2025-09-20T20:13:47.606Z,1758399227.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 0.503675 s,
deltaX: 0.099998 m,
approachRate: 0.198538 m/s,
rangeRepo size: 4
2025-09-20T20:13:47.612Z,1758399227.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.210905 m,
bearing: 92.092313 deg,
lat: 36.779241 deg,
lon: -121.859579 deg,
deltaT: 0.503675 s,
deltaX: 0.099573 m,
approachRate: 0.197693 m/s,
posRepo size: 4
2025-09-20T20:13:47.613Z,1758399227.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m.
2025-09-20T20:13:47.677Z,1758399227.677 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.236090
2025-09-20T20:13:47.922Z,1758399227.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m.
2025-09-20T20:13:47.929Z,1758399227.929 [DAT](INFO): DAT read: Rx Time:20:13:50.2030
2025-09-20T20:13:47.929Z,1758399227.929 [DAT](INFO): Rx dataTimestamp_ set to:1758399227.928806
2025-09-20T20:13:47.930Z,1758399227.930 [DAT](INFO): DAT read: Bearing 223.3, -14.3 (Local)
2025-09-20T20:13:47.931Z,1758399227.931 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.3, -14.3 (Local)
2025-09-20T20:13:47.933Z,1758399227.933 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed -0.3
2025-09-20T20:13:47.937Z,1758399227.937 [DAT](INFO): DAT read: 20:13:50.2030 LVL= 32752, 28465, 32754, 32755, AGC= 70, IDX= 508, 0.42, 1.967,-2.053, 2.864, 3.032, PHS=-0.963, 1.243,-0.212, RAW= 310.5, -0.7, CAL= 308.8, -4.0, ROT= 201.2, 4.0
2025-09-20T20:13:47.938Z,1758399227.938 [DAT](INFO): got valid direction response:
20:13:50.2030 LVL= 32752, 28465, 32754, 32755, AGC= 70, IDX= 508, 0.42, 1.967,-2.053, 2.864, 3.032, PHS=-0.963, 1.243,-0.212, RAW= 310.5, -0.7, CAL= 308.8, -4.0, ROT= 201.2, 4.0
2025-09-20T20:13:47.939Z,1758399227.939 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-09-20T20:13:47.940Z,1758399227.940 [DAT](INFO): direction in FSK: [-0.930053,-0.360744,-0.069756]
2025-09-20T20:13:47.940Z,1758399227.940 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:47.944Z,1758399227.944 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.503183
2025-09-20T20:13:48.180Z,1758399228.180 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.739365
2025-09-20T20:13:48.347Z,1758399228.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.299999 m,
deltaT: 0.504076 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:48.369Z,1758399228.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.210781 m,
bearing: 93.040332 deg,
lat: 36.779240 deg,
lon: -121.859579 deg,
deltaT: 0.504076 s,
deltaX: -0.000124 m,
approachRate: -0.000246 m/s,
posRepo size: 4
2025-09-20T20:13:48.369Z,1758399228.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.21 m.
2025-09-20T20:13:48.434Z,1758399228.434 [DAT](INFO): DAT read: Rx Time:20:13:50.7033
2025-09-20T20:13:48.434Z,1758399228.434 [DAT](INFO): Rx dataTimestamp_ set to:1758399228.434050
2025-09-20T20:13:48.436Z,1758399228.436 [DAT](INFO): DAT read: Bearing 223.5, -13.0 (Local)
2025-09-20T20:13:48.437Z,1758399228.437 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.5, -13.0 (Local)
2025-09-20T20:13:48.440Z,1758399228.440 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.2
2025-09-20T20:13:48.458Z,1758399228.458 [DAT](INFO): DAT read: 20:13:50.7033 LVL= 32752, 29857, 32754, 32755, AGC= 71, IDX= 511,-0.31, 1.527,-2.519, 2.384, 2.565, PHS=-0.936, 1.244,-0.226, RAW= 311.4, -0.9, CAL= 309.7, -4.1, ROT= 200.3, 4.1
2025-09-20T20:13:48.472Z,1758399228.472 [DAT](INFO): got valid direction response:
20:13:50.7033 LVL= 32752, 29857, 32754, 32755, AGC= 71, IDX= 511,-0.31, 1.527,-2.519, 2.384, 2.565, PHS=-0.936, 1.244,-0.226, RAW= 311.4, -0.9, CAL= 309.7, -4.1, ROT= 200.3, 4.1
2025-09-20T20:13:48.472Z,1758399228.472 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-09-20T20:13:48.473Z,1758399228.473 [DAT](INFO): direction in FSK: [-0.935489,-0.346048,-0.071497]
2025-09-20T20:13:48.473Z,1758399228.473 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:48.481Z,1758399228.481 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.040628
2025-09-20T20:13:48.684Z,1758399228.684 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.243340
2025-09-20T20:13:48.781Z,1758399228.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.799999 m,
deltaT: 0.505244 s,
deltaX: 0.500000 m,
approachRate: 0.989621 m/s,
rangeRepo size: 4
2025-09-20T20:13:48.798Z,1758399228.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.708687 m,
bearing: 92.196736 deg,
lat: 36.779241 deg,
lon: -121.859578 deg,
deltaT: 0.505244 s,
deltaX: 0.497906 m,
approachRate: 0.985476 m/s,
posRepo size: 4
2025-09-20T20:13:48.803Z,1758399228.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-09-20T20:13:48.937Z,1758399228.937 [DAT](INFO): DAT read: Rx Time:20:13:51.2033
2025-09-20T20:13:48.937Z,1758399228.937 [DAT](INFO): Rx dataTimestamp_ set to:1758399228.936801
2025-09-20T20:13:48.938Z,1758399228.938 [DAT](INFO): DAT read: Bearing 223.8, -12.1 (Local)
2025-09-20T20:13:48.939Z,1758399228.939 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.8, -12.1 (Local)
2025-09-20T20:13:48.941Z,1758399228.941 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3
2025-09-20T20:13:48.946Z,1758399228.946 [DAT](INFO): DAT read: 20:13:51.2033 LVL= 32752, 32177, 32754, 32755, AGC= 67, IDX= 511,-0.18, 1.387,-2.682, 2.215, 2.401, PHS=-0.912, 1.245,-0.229, RAW= 312.0, -1.1, CAL= 310.3, -4.3, ROT= 199.7, 4.3
2025-09-20T20:13:48.947Z,1758399228.947 [DAT](INFO): got valid direction response:
20:13:51.2033 LVL= 32752, 32177, 32754, 32755, AGC= 67, IDX= 511,-0.18, 1.387,-2.682, 2.215, 2.401, PHS=-0.912, 1.245,-0.229, RAW= 312.0, -1.1, CAL= 310.3, -4.3, ROT= 199.7, 4.3
2025-09-20T20:13:48.947Z,1758399228.947 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-09-20T20:13:48.948Z,1758399228.948 [DAT](INFO): direction in FSK: [-0.938820,-0.336146,-0.074979]
2025-09-20T20:13:48.948Z,1758399228.948 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:48.960Z,1758399228.960 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.519444
2025-09-20T20:13:49.121Z,1758399229.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.799999 m,
deltaT: 0.502751 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:49.143Z,1758399229.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.708687 m,
bearing: 91.649289 deg,
lat: 36.779242 deg,
lon: -121.859578 deg,
deltaT: 0.502751 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:49.144Z,1758399229.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-09-20T20:13:49.192Z,1758399229.192 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.751253
2025-09-20T20:13:49.440Z,1758399229.440 [DAT](INFO): DAT read: Rx Time:20:13:51.7035
2025-09-20T20:13:49.441Z,1758399229.441 [DAT](INFO): Rx dataTimestamp_ set to:1758399229.440393
2025-09-20T20:13:49.442Z,1758399229.442 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.0
2025-09-20T20:13:49.442Z,1758399229.442 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-09-20T20:13:49.443Z,1758399229.443 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.002893
2025-09-20T20:13:49.601Z,1758399229.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 0.503592 s,
deltaX: 0.300001 m,
approachRate: 0.595723 m/s,
rangeRepo size: 4
2025-09-20T20:13:49.602Z,1758399229.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-09-20T20:13:49.693Z,1758399229.693 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.252312
2025-09-20T20:13:49.945Z,1758399229.945 [DAT](INFO): DAT read: Rx Time:20:13:52.2035
2025-09-20T20:13:49.945Z,1758399229.945 [DAT](INFO): Rx dataTimestamp_ set to:1758399229.944859
2025-09-20T20:13:49.946Z,1758399229.946 [DAT](INFO): DAT read: Bearing 234.5, -17.1 (Local)
2025-09-20T20:13:49.947Z,1758399229.947 [DAT](INFO): Local bearing/azimuth received:
Bearing 234.5, -17.1 (Local)
2025-09-20T20:13:49.949Z,1758399229.949 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed -0.4
2025-09-20T20:13:49.954Z,1758399229.954 [DAT](INFO): DAT read: 20:13:52.2035 LVL= 32752, 28369, 32754, 32755, AGC= 69, IDX= 513, 0.14, 0.882, 2.965, 1.912, 1.645, PHS=-0.661, 1.365, 0.222, RAW= 304.2, -10.5, CAL= 304.7, -14.7, ROT= 205.3, 14.7
2025-09-20T20:13:49.968Z,1758399229.968 [DAT](INFO): got valid direction response:
20:13:52.2035 LVL= 32752, 28369, 32754, 32755, AGC= 69, IDX= 513, 0.14, 0.882, 2.965, 1.912, 1.645, PHS=-0.661, 1.365, 0.222, RAW= 304.2, -10.5, CAL= 304.7, -14.7, ROT= 205.3, 14.7
2025-09-20T20:13:49.968Z,1758399229.968 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-09-20T20:13:49.969Z,1758399229.969 [DAT](INFO): direction in FSK: [-0.874490,-0.413370,-0.253758]
2025-09-20T20:13:49.969Z,1758399229.969 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:49.977Z,1758399229.977 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.536243
2025-09-20T20:13:49.984Z,1758399229.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 0.504466 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:49.984Z,1758399229.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-09-20T20:13:50.196Z,1758399230.196 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.755587
2025-09-20T20:13:50.367Z,1758399230.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.71 m.
2025-09-20T20:13:50.450Z,1758399230.450 [DAT](INFO): DAT read: Rx Time:20:13:52.7037
2025-09-20T20:13:50.450Z,1758399230.450 [DAT](INFO): Rx dataTimestamp_ set to:1758399230.449838
2025-09-20T20:13:50.451Z,1758399230.451 [DAT](INFO): DAT read: Bearing 225.2, -8.1 (Local)
2025-09-20T20:13:50.452Z,1758399230.452 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.2, -8.1 (Local)
2025-09-20T20:13:50.454Z,1758399230.454 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed -0.2
2025-09-20T20:13:50.459Z,1758399230.459 [DAT](INFO): DAT read: 20:13:52.7037 LVL= 32752, 32753, 32754, 25075, AGC= 68, IDX= 3, 0.25,-0.539, 1.598, 0.177, 0.378, PHS=-0.816, 1.265,-0.246, RAW= 314.6, -2.2, CAL= 313.3, -5.5, ROT= 196.7, 5.5
2025-09-20T20:13:50.460Z,1758399230.460 [DAT](INFO): got valid direction response:
20:13:52.7037 LVL= 32752, 32753, 32754, 25075, AGC= 68, IDX= 3, 0.25,-0.539, 1.598, 0.177, 0.378, PHS=-0.816, 1.265,-0.246, RAW= 314.6, -2.2, CAL= 313.3, -5.5, ROT= 196.7, 5.5
2025-09-20T20:13:50.460Z,1758399230.460 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-09-20T20:13:50.461Z,1758399230.461 [DAT](INFO): direction in FSK: [-0.953413,-0.286037,-0.095846]
2025-09-20T20:13:50.461Z,1758399230.461 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:50.469Z,1758399230.469 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.028181
2025-09-20T20:13:50.700Z,1758399230.700 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.259481
2025-09-20T20:13:50.837Z,1758399230.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.400000 m,
deltaT: 0.504979 s,
deltaX: 0.299999 m,
approachRate: 0.594083 m/s,
rangeRepo size: 4
2025-09-20T20:13:50.844Z,1758399230.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.306093 m,
bearing: 88.695597 deg,
lat: 36.779242 deg,
lon: -121.859578 deg,
deltaT: 1.513037 s,
deltaX: 0.597406 m,
approachRate: 0.394839 m/s,
posRepo size: 4
2025-09-20T20:13:50.844Z,1758399230.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.31 m.
2025-09-20T20:13:50.954Z,1758399230.954 [DAT](INFO): DAT read: Rx Time:20:13:53.2038
2025-09-20T20:13:50.954Z,1758399230.954 [DAT](INFO): Rx dataTimestamp_ set to:1758399230.953729
2025-09-20T20:13:50.956Z,1758399230.956 [DAT](INFO): DAT read: Bearing 225.2, -6.8 (Local)
2025-09-20T20:13:50.957Z,1758399230.957 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.2, -6.8 (Local)
2025-09-20T20:13:50.959Z,1758399230.959 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.4
2025-09-20T20:13:50.964Z,1758399230.964 [DAT](INFO): DAT read: 20:13:53.2038 LVL= 32752, 30321, 32754, 32755, AGC= 69, IDX= 500,-0.45, 2.488,-1.638,-3.106,-2.878, PHS=-0.815, 1.286,-0.271, RAW= 315.6, -2.1, CAL= 314.2, -5.4, ROT= 195.8, 5.4
2025-09-20T20:13:50.965Z,1758399230.965 [DAT](INFO): got valid direction response:
20:13:53.2038 LVL= 32752, 30321, 32754, 32755, AGC= 69, IDX= 500,-0.45, 2.488,-1.638,-3.106,-2.878, PHS=-0.815, 1.286,-0.271, RAW= 315.6, -2.1, CAL= 314.2, -5.4, ROT= 195.8, 5.4
2025-09-20T20:13:50.965Z,1758399230.965 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-09-20T20:13:50.966Z,1758399230.966 [DAT](INFO): direction in FSK: [-0.957948,-0.271072,-0.094108]
2025-09-20T20:13:50.967Z,1758399230.967 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:50.971Z,1758399230.971 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.530136
2025-09-20T20:13:51.152Z,1758399231.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 0.503891 s,
deltaX: 0.100000 m,
approachRate: 0.198456 m/s,
rangeRepo size: 4
2025-09-20T20:13:51.154Z,1758399231.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.405676 m,
bearing: 87.815803 deg,
lat: 36.779244 deg,
lon: -121.859577 deg,
deltaT: 0.503891 s,
deltaX: 0.099583 m,
approachRate: 0.197627 m/s,
posRepo size: 4
2025-09-20T20:13:51.154Z,1758399231.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.41 m.
2025-09-20T20:13:51.204Z,1758399231.204 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.763653
2025-09-20T20:13:51.457Z,1758399231.457 [DAT](INFO): DAT read: Rx Time:20:13:53.7039
2025-09-20T20:13:51.457Z,1758399231.457 [DAT](INFO): Rx dataTimestamp_ set to:1758399231.456777
2025-09-20T20:13:51.458Z,1758399231.458 [DAT](INFO): DAT read: Bearing 227.3, -5.6 (Local)
2025-09-20T20:13:51.459Z,1758399231.459 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.3, -5.6 (Local)
2025-09-20T20:13:51.461Z,1758399231.461 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.2
2025-09-20T20:13:51.465Z,1758399231.465 [DAT](INFO): DAT read: 20:13:53.7039 LVL= 32752, 30385, 32450, 32755, AGC= 70, IDX= 501,-0.23, 1.596,-2.464, 2.279, 2.471, PHS=-0.772, 1.394,-0.236, RAW= 316.2, -4.0, CAL= 315.2, -7.3, ROT= 194.8, 7.3
2025-09-20T20:13:51.466Z,1758399231.466 [DAT](INFO): got valid direction response:
20:13:53.7039 LVL= 32752, 30385, 32450, 32755, AGC= 70, IDX= 501,-0.23, 1.596,-2.464, 2.279, 2.471, PHS=-0.772, 1.394,-0.236, RAW= 316.2, -4.0, CAL= 315.2, -7.3, ROT= 194.8, 7.3
2025-09-20T20:13:51.467Z,1758399231.467 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-09-20T20:13:51.468Z,1758399231.468 [DAT](INFO): direction in FSK: [-0.958987,-0.253375,-0.127065]
2025-09-20T20:13:51.468Z,1758399231.468 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:51.472Z,1758399231.472 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.031124
2025-09-20T20:13:51.658Z,1758399231.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.700001 m,
deltaT: 0.503048 s,
deltaX: 0.200001 m,
approachRate: 0.397578 m/s,
rangeRepo size: 4
2025-09-20T20:13:51.664Z,1758399231.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.604797 m,
bearing: 86.706964 deg,
lat: 36.779254 deg,
lon: -121.859577 deg,
deltaT: 0.503048 s,
deltaX: 0.199121 m,
approachRate: 0.395830 m/s,
posRepo size: 4
2025-09-20T20:13:51.665Z,1758399231.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-09-20T20:13:51.708Z,1758399231.708 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.267502
2025-09-20T20:13:51.961Z,1758399231.961 [DAT](INFO): DAT read: Rx Time:20:13:54.2039
2025-09-20T20:13:51.961Z,1758399231.961 [DAT](INFO): Rx dataTimestamp_ set to:1758399231.960850
2025-09-20T20:13:51.962Z,1758399231.962 [DAT](INFO): DAT read: Bearing 226.3, -4.4 (Local)
2025-09-20T20:13:51.964Z,1758399231.964 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.3, -4.4 (Local)
2025-09-20T20:13:51.966Z,1758399231.966 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed -0.7
2025-09-20T20:13:51.970Z,1758399231.970 [DAT](INFO): DAT read: 20:13:54.2039 LVL= 32752, 28641, 32754, 32755, AGC= 68, IDX= 501,-0.12, 0.778, 2.961, 1.418, 1.659, PHS=-0.779, 1.346,-0.286, RAW= 317.2, -3.0, CAL= 316.0, -6.2, ROT= 194.0, 6.2
2025-09-20T20:13:51.971Z,1758399231.971 [DAT](INFO): got valid direction response:
20:13:54.2039 LVL= 32752, 28641, 32754, 32755, AGC= 68, IDX= 501,-0.12, 0.778, 2.961, 1.418, 1.659, PHS=-0.779, 1.346,-0.286, RAW= 317.2, -3.0, CAL= 316.0, -6.2, ROT= 194.0, 6.2
2025-09-20T20:13:51.972Z,1758399231.972 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-09-20T20:13:51.973Z,1758399231.973 [DAT](INFO): direction in FSK: [-0.964620,-0.240507,-0.107999]
2025-09-20T20:13:51.973Z,1758399231.973 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:51.977Z,1758399231.977 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.536175
2025-09-20T20:13:51.980Z,1758399231.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.700001 m,
deltaT: 0.504073 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:51.980Z,1758399231.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-09-20T20:13:52.212Z,1758399232.212 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.771469
2025-09-20T20:13:52.353Z,1758399232.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.60 m.
2025-09-20T20:13:52.465Z,1758399232.465 [DAT](INFO): DAT read: Rx Time:20:13:54.7041
2025-09-20T20:13:52.465Z,1758399232.465 [DAT](INFO): Rx dataTimestamp_ set to:1758399232.464738
2025-09-20T20:13:52.466Z,1758399232.466 [DAT](INFO): DAT read: Bearing 225.6, -3.6 (Local)
2025-09-20T20:13:52.467Z,1758399232.467 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.6, -3.6 (Local)
2025-09-20T20:13:52.469Z,1758399232.469 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.3
2025-09-20T20:13:52.474Z,1758399232.474 [DAT](INFO): DAT read: 20:13:54.7041 LVL= 32752, 30177, 32754, 32755, AGC= 69, IDX= 503, 0.02, 3.010,-1.107,-2.656,-2.380, PHS=-0.791, 1.318,-0.320, RAW= 317.7, -2.2, CAL= 316.4, -5.4, ROT= 193.6, 5.4
2025-09-20T20:13:52.475Z,1758399232.475 [DAT](INFO): got valid direction response:
20:13:54.7041 LVL= 32752, 30177, 32754, 32755, AGC= 69, IDX= 503, 0.02, 3.010,-1.107,-2.656,-2.380, PHS=-0.791, 1.318,-0.320, RAW= 317.7, -2.2, CAL= 316.4, -5.4, ROT= 193.6, 5.4
2025-09-20T20:13:52.475Z,1758399232.475 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-09-20T20:13:52.476Z,1758399232.476 [DAT](INFO): direction in FSK: [-0.967647,-0.234099,-0.094108]
2025-09-20T20:13:52.477Z,1758399232.477 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:52.480Z,1758399232.480 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.039776
2025-09-20T20:13:52.716Z,1758399232.716 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.275234
2025-09-20T20:13:52.894Z,1758399232.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.000000 m,
deltaT: 0.503888 s,
deltaX: 0.299999 m,
approachRate: 0.595369 m/s,
rangeRepo size: 4
2025-09-20T20:13:52.901Z,1758399232.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.903479 m,
bearing: 85.804477 deg,
lat: 36.779261 deg,
lon: -121.859577 deg,
deltaT: 1.007961 s,
deltaX: 0.298681 m,
approachRate: 0.296322 m/s,
posRepo size: 4
2025-09-20T20:13:52.901Z,1758399232.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-09-20T20:13:52.971Z,1758399232.971 [DAT](INFO): DAT read: Rx Time:20:13:55.2041
2025-09-20T20:13:52.972Z,1758399232.972 [DAT](INFO): Rx dataTimestamp_ set to:1758399232.971296
2025-09-20T20:13:52.973Z,1758399232.973 [DAT](INFO): DAT read: Bearing 225.6, -2.8 (Local)
2025-09-20T20:13:52.974Z,1758399232.974 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.6, -2.8 (Local)
2025-09-20T20:13:52.977Z,1758399232.977 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0
2025-09-20T20:13:52.984Z,1758399232.984 [DAT](INFO): DAT read: 20:13:55.2041 LVL= 32752, 30657, 32754, 32755, AGC= 70, IDX= 503, 0.11, 2.757,-1.408,-2.938,-2.656, PHS=-0.767, 1.294,-0.326, RAW= 318.3, -2.2, CAL= 317.0, -5.3, ROT= 193.0, 5.3
2025-09-20T20:13:52.985Z,1758399232.985 [DAT](INFO): got valid direction response:
20:13:55.2041 LVL= 32752, 30657, 32754, 32755, AGC= 70, IDX= 503, 0.11, 2.757,-1.408,-2.938,-2.656, PHS=-0.767, 1.294,-0.326, RAW= 318.3, -2.2, CAL= 317.0, -5.3, ROT= 193.0, 5.3
2025-09-20T20:13:52.986Z,1758399232.986 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-09-20T20:13:52.989Z,1758399232.989 [DAT](INFO): direction in FSK: [-0.970204,-0.223989,-0.092371]
2025-09-20T20:13:52.990Z,1758399232.990 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:52.994Z,1758399232.994 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.553303
2025-09-20T20:13:53.220Z,1758399233.220 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.779552
2025-09-20T20:13:53.223Z,1758399233.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.000000 m,
deltaT: 0.506558 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:53.225Z,1758399233.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.903444 m,
bearing: 85.309850 deg,
lat: 36.779263 deg,
lon: -121.859579 deg,
deltaT: 0.506558 s,
deltaX: -0.000034 m,
approachRate: -0.000068 m/s,
posRepo size: 4
2025-09-20T20:13:53.226Z,1758399233.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.90 m.
2025-09-20T20:13:53.473Z,1758399233.473 [DAT](INFO): DAT read: Rx Time:20:13:55.7042
2025-09-20T20:13:53.473Z,1758399233.473 [DAT](INFO): Rx dataTimestamp_ set to:1758399233.472712
2025-09-20T20:13:53.474Z,1758399233.474 [DAT](INFO): DAT read: Bearing 225.9, -2.1 (Local)
2025-09-20T20:13:53.475Z,1758399233.475 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.9, -2.1 (Local)
2025-09-20T20:13:53.477Z,1758399233.477 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.3
2025-09-20T20:13:53.481Z,1758399233.481 [DAT](INFO): DAT read: 20:13:55.7042 LVL= 32752, 27985, 32754, 32755, AGC= 70, IDX= 505, 0.26,-2.919,-0.757,-2.334,-2.045, PHS=-0.772, 1.333,-0.333, RAW= 318.6, -2.4, CAL= 317.4, -5.6, ROT= 192.6, 5.6
2025-09-20T20:13:53.482Z,1758399233.482 [DAT](INFO): got valid direction response:
20:13:55.7042 LVL= 32752, 27985, 32754, 32755, AGC= 70, IDX= 505, 0.26,-2.919,-0.757,-2.334,-2.045, PHS=-0.772, 1.333,-0.333, RAW= 318.6, -2.4, CAL= 317.4, -5.6, ROT= 192.6, 5.6
2025-09-20T20:13:53.483Z,1758399233.483 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-09-20T20:13:53.484Z,1758399233.484 [DAT](INFO): direction in FSK: [-0.971259,-0.217102,-0.097583]
2025-09-20T20:13:53.484Z,1758399233.484 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:53.488Z,1758399233.488 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.047131
2025-09-20T20:13:53.697Z,1758399233.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.299999 m,
deltaT: 0.501416 s,
deltaX: 0.299999 m,
approachRate: 0.598304 m/s,
rangeRepo size: 4
2025-09-20T20:13:53.699Z,1758399233.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.202185 m,
bearing: 84.879592 deg,
lat: 36.779264 deg,
lon: -121.859579 deg,
deltaT: 0.501416 s,
deltaX: 0.298740 m,
approachRate: 0.595793 m/s,
posRepo size: 4
2025-09-20T20:13:53.699Z,1758399233.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-09-20T20:13:53.724Z,1758399233.724 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.283489
2025-09-20T20:13:53.977Z,1758399233.977 [DAT](INFO): DAT read: Rx Time:20:13:56.2043
2025-09-20T20:13:53.977Z,1758399233.977 [DAT](INFO): Rx dataTimestamp_ set to:1758399233.976739
2025-09-20T20:13:53.978Z,1758399233.978 [DAT](INFO): DAT read: Bearing 225.4, -1.7 (Local)
2025-09-20T20:13:53.979Z,1758399233.979 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.4, -1.7 (Local)
2025-09-20T20:13:53.981Z,1758399233.981 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed -0.2
2025-09-20T20:13:53.985Z,1758399233.985 [DAT](INFO): DAT read: 20:13:56.2043 LVL= 32752, 29281, 31666, 32755, AGC= 71, IDX= 505, 0.42, 2.212,-1.934, 2.787, 3.092, PHS=-0.779, 1.302,-0.349, RAW= 318.7, -1.9, CAL= 317.4, -5.0, ROT= 192.6, 5.0
2025-09-20T20:13:53.986Z,1758399233.986 [DAT](INFO): got valid direction response:
20:13:56.2043 LVL= 32752, 29281, 31666, 32755, AGC= 71, IDX= 505, 0.42, 2.212,-1.934, 2.787, 3.092, PHS=-0.779, 1.302,-0.349, RAW= 318.7, -1.9, CAL= 317.4, -5.0, ROT= 192.6, 5.0
2025-09-20T20:13:53.987Z,1758399233.987 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-09-20T20:13:53.988Z,1758399233.988 [DAT](INFO): direction in FSK: [-0.972203,-0.217313,-0.087156]
2025-09-20T20:13:53.988Z,1758399233.988 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:53.996Z,1758399233.996 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.554085
2025-09-20T20:13:54.104Z,1758399234.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.400000 m,
deltaT: 0.504027 s,
deltaX: 0.100000 m,
approachRate: 0.198403 m/s,
rangeRepo size: 4
2025-09-20T20:13:54.106Z,1758399234.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.301765 m,
bearing: 85.041473 deg,
lat: 36.779266 deg,
lon: -121.859579 deg,
deltaT: 0.504027 s,
deltaX: 0.099581 m,
approachRate: 0.197570 m/s,
posRepo size: 4
2025-09-20T20:13:54.106Z,1758399234.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m.
2025-09-20T20:13:54.229Z,1758399234.229 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.787842
2025-09-20T20:13:54.447Z,1758399234.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.30 m.
2025-09-20T20:13:54.482Z,1758399234.482 [DAT](INFO): DAT read: Rx Time:20:13:56.7045
2025-09-20T20:13:54.483Z,1758399234.483 [DAT](INFO): Rx dataTimestamp_ set to:1758399234.482332
2025-09-20T20:13:54.485Z,1758399234.485 [DAT](INFO): DAT read: Bearing 226.0, -1.0 (Local)
2025-09-20T20:13:54.485Z,1758399234.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.0, -1.0 (Local)
2025-09-20T20:13:54.487Z,1758399234.487 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.3
2025-09-20T20:13:54.492Z,1758399234.492 [DAT](INFO): DAT read: 20:13:56.7045 LVL= 32752, 29233, 32098, 32755, AGC= 70, IDX= 508,-0.38, 1.965,-2.147, 2.531, 2.835, PHS=-0.768, 1.346,-0.348, RAW= 319.2, -2.4, CAL= 318.0, -5.6, ROT= 192.0, 5.6
2025-09-20T20:13:54.494Z,1758399234.494 [DAT](INFO): got valid direction response:
20:13:56.7045 LVL= 32752, 29233, 32098, 32755, AGC= 70, IDX= 508,-0.38, 1.965,-2.147, 2.531, 2.835, PHS=-0.768, 1.346,-0.348, RAW= 319.2, -2.4, CAL= 318.0, -5.6, ROT= 192.0, 5.6
2025-09-20T20:13:54.494Z,1758399234.494 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-09-20T20:13:54.497Z,1758399234.497 [DAT](INFO): direction in FSK: [-0.973479,-0.206920,-0.097583]
2025-09-20T20:13:54.498Z,1758399234.498 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:54.503Z,1758399234.503 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.062069
2025-09-20T20:13:54.732Z,1758399234.732 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.291382
2025-09-20T20:13:54.876Z,1758399234.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 0.505593 s,
deltaX: 0.300001 m,
approachRate: 0.593365 m/s,
rangeRepo size: 4
2025-09-20T20:13:54.878Z,1758399234.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.600418 m,
bearing: 84.460535 deg,
lat: 36.779267 deg,
lon: -121.859579 deg,
deltaT: 0.505593 s,
deltaX: 0.298653 m,
approachRate: 0.590698 m/s,
posRepo size: 4
2025-09-20T20:13:54.879Z,1758399234.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-20T20:13:54.985Z,1758399234.985 [DAT](INFO): DAT read: Rx Time:20:13:57.2045
2025-09-20T20:13:54.985Z,1758399234.985 [DAT](INFO): Rx dataTimestamp_ set to:1758399234.984820
2025-09-20T20:13:54.986Z,1758399234.986 [DAT](INFO): DAT read: Bearing 225.9, -0.6 (Local)
2025-09-20T20:13:54.987Z,1758399234.987 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.9, -0.6 (Local)
2025-09-20T20:13:54.989Z,1758399234.989 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.2
2025-09-20T20:13:54.994Z,1758399234.994 [DAT](INFO): DAT read: 20:13:57.2045 LVL= 32752, 29153, 32754, 32755, AGC= 69, IDX= 508,-0.28, 0.571, 2.744, 1.134, 1.443, PHS=-0.770, 1.346,-0.353, RAW= 319.3, -2.3, CAL= 318.1, -5.5, ROT= 191.9, 5.5
2025-09-20T20:13:54.996Z,1758399234.996 [DAT](INFO): got valid direction response:
20:13:57.2045 LVL= 32752, 29153, 32754, 32755, AGC= 69, IDX= 508,-0.28, 0.571, 2.744, 1.134, 1.443, PHS=-0.770, 1.346,-0.353, RAW= 319.3, -2.3, CAL= 318.1, -5.5, ROT= 191.9, 5.5
2025-09-20T20:13:54.996Z,1758399234.996 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-09-20T20:13:54.997Z,1758399234.997 [DAT](INFO): direction in FSK: [-0.974004,-0.205255,-0.095846]
2025-09-20T20:13:54.997Z,1758399234.997 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:55.001Z,1758399235.001 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.560238
2025-09-20T20:13:55.256Z,1758399235.256 [DAT](INFO): DAT read: Rx Time:20:13:57.7046
2025-09-20T20:13:55.257Z,1758399235.257 [DAT](INFO): Rx dataTimestamp_ set to:1758399235.256414
2025-09-20T20:13:55.261Z,1758399235.261 [DAT](INFO): DAT read: Bearing 225.7, -0.6 (Local)
2025-09-20T20:13:55.262Z,1758399235.262 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.7, -0.6 (Local)
2025-09-20T20:13:55.266Z,1758399235.266 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.1
2025-09-20T20:13:55.286Z,1758399235.286 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-09-20T20:13:55.290Z,1758399235.290 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.848175
2025-09-20T20:13:55.401Z,1758399235.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.900000 m,
deltaT: 0.774082 s,
deltaX: 0.199999 m,
approachRate: 0.258369 m/s,
rangeRepo size: 4
2025-09-20T20:13:55.403Z,1758399235.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.799480 m,
bearing: 84.407266 deg,
lat: 36.779268 deg,
lon: -121.859579 deg,
deltaT: 0.774082 s,
deltaX: 0.199062 m,
approachRate: 0.257159 m/s,
posRepo size: 4
2025-09-20T20:13:55.404Z,1758399235.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m.
2025-09-20T20:13:55.508Z,1758399235.508 [DAT](INFO): DAT read: 20:13:57.7046 LVL= 32752, 26737, 31842, 32755, AGC= 68, IDX= 509,-0.16, 0.206, 2.367, 0.773, 1.083, PHS=-0.775, 1.330,-0.354, RAW= 319.1, -2.1, CAL= 317.8, -5.3, ROT= 192.2, 5.3
2025-09-20T20:13:55.509Z,1758399235.509 [DAT](INFO): got valid direction response:
20:13:57.7046 LVL= 32752, 26737, 31842, 32755, AGC= 68, IDX= 509,-0.16, 0.206, 2.367, 0.773, 1.083, PHS=-0.775, 1.330,-0.354, RAW= 319.1, -2.1, CAL= 317.8, -5.3, ROT= 192.2, 5.3
2025-09-20T20:13:55.509Z,1758399235.509 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-09-20T20:13:55.511Z,1758399235.511 [DAT](INFO): direction in FSK: [-0.973237,-0.210421,-0.092371]
2025-09-20T20:13:55.516Z,1758399235.516 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.075466
2025-09-20T20:13:55.746Z,1758399235.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m.
2025-09-20T20:13:55.760Z,1758399235.760 [DAT](INFO): DAT read: Rx Time:20:13:58.2046
2025-09-20T20:13:55.762Z,1758399235.762 [DAT](INFO): Rx dataTimestamp_ set to:1758399235.760712
2025-09-20T20:13:55.766Z,1758399235.766 [DAT](INFO): DAT read: Bearing 226.0, -0.1 (Local)
2025-09-20T20:13:55.783Z,1758399235.783 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.0, -0.1 (Local)
2025-09-20T20:13:55.794Z,1758399235.794 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.0
2025-09-20T20:13:55.817Z,1758399235.817 [DAT](INFO): DAT read: 20:13:58.2046 LVL= 32752, 26593, 32754, 32755, AGC= 70, IDX= 509,-0.09,-0.770, 1.410,-0.211, 0.102, PHS=-0.770, 1.354,-0.357, RAW= 319.4, -2.4, CAL= 318.2, -5.5, ROT= 191.8, 5.5
2025-09-20T20:13:55.818Z,1758399235.818 [DAT](INFO): got valid direction response:
20:13:58.2046 LVL= 32752, 26593, 32754, 32755, AGC= 70, IDX= 509,-0.09,-0.770, 1.410,-0.211, 0.102, PHS=-0.770, 1.354,-0.357, RAW= 319.4, -2.4, CAL= 318.2, -5.5, ROT= 191.8, 5.5
2025-09-20T20:13:55.819Z,1758399235.819 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-09-20T20:13:55.828Z,1758399235.828 [DAT](INFO): direction in FSK: [-0.974361,-0.203555,-0.095846]
2025-09-20T20:13:55.828Z,1758399235.828 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:55.840Z,1758399235.840 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.399212
2025-09-20T20:13:56.008Z,1758399236.008 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.567413
2025-09-20T20:13:56.119Z,1758399236.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.900000 m,
deltaT: 0.504298 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:56.121Z,1758399236.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.799480 m,
bearing: 84.387637 deg,
lat: 36.779269 deg,
lon: -121.859579 deg,
deltaT: 0.504298 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:56.122Z,1758399236.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m.
2025-09-20T20:13:56.265Z,1758399236.265 [DAT](INFO): DAT read: Rx Time:20:13:58.7048
2025-09-20T20:13:56.268Z,1758399236.268 [DAT](INFO): Rx dataTimestamp_ set to:1758399236.266138
2025-09-20T20:13:56.271Z,1758399236.271 [DAT](INFO): DAT read: Bearing 226.0, 0.1 (Local)
2025-09-20T20:13:56.272Z,1758399236.272 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.0, 0.1 (Local)
2025-09-20T20:13:56.278Z,1758399236.278 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.1
2025-09-20T20:13:56.281Z,1758399236.281 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-09-20T20:13:56.285Z,1758399236.285 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=36.844116
2025-09-20T20:13:56.516Z,1758399236.516 [DAT](INFO): DAT read: 20:13:58.7048 LVL= 32752, 27553, 32754, 32755, AGC= 68, IDX= 511,-0.05, 0.371, 2.522, 0.926, 1.233, PHS=-0.760, 1.334,-0.351, RAW= 319.4, -2.3, CAL= 318.2, -5.5, ROT= 191.8, 5.5
2025-09-20T20:13:56.517Z,1758399236.517 [DAT](INFO): got valid direction response:
20:13:58.7048 LVL= 32752, 27553, 32754, 32755, AGC= 68, IDX= 511,-0.05, 0.371, 2.522, 0.926, 1.233, PHS=-0.760, 1.334,-0.351, RAW= 319.4, -2.3, CAL= 318.2, -5.5, ROT= 191.8, 5.5
2025-09-20T20:13:56.517Z,1758399236.517 [DAT](INFO): #Rx 78: Read direction message, but no range.
2025-09-20T20:13:56.518Z,1758399236.518 [DAT](INFO): direction in FSK: [-0.974361,-0.203555,-0.095846]
2025-09-20T20:13:56.521Z,1758399236.521 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.080894
2025-09-20T20:13:56.524Z,1758399236.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.505426 s,
deltaX: 0.300001 m,
approachRate: 0.593561 m/s,
rangeRepo size: 4
2025-09-20T20:13:56.525Z,1758399236.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.80 m.
2025-09-20T20:13:56.771Z,1758399236.771 [DAT](INFO): DAT read: Rx Time:20:13:59.2048
2025-09-20T20:13:56.773Z,1758399236.773 [DAT](INFO): Rx dataTimestamp_ set to:1758399236.771771
2025-09-20T20:13:56.776Z,1758399236.776 [DAT](INFO): DAT read: Bearing 226.2, 0.2 (Local)
2025-09-20T20:13:56.778Z,1758399236.778 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.2, 0.2 (Local)
2025-09-20T20:13:56.785Z,1758399236.785 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed -0.4
2025-09-20T20:13:56.788Z,1758399236.788 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-09-20T20:13:56.792Z,1758399236.792 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=37.350849
2025-09-20T20:13:56.946Z,1758399236.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.505633 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:56.948Z,1758399236.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.098181 m,
bearing: 84.408474 deg,
lat: 36.779270 deg,
lon: -121.859579 deg,
deltaT: 1.011059 s,
deltaX: 0.298700 m,
approachRate: 0.295433 m/s,
posRepo size: 4
2025-09-20T20:13:56.948Z,1758399236.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-09-20T20:13:57.020Z,1758399237.020 [DAT](INFO): DAT read: 20:13:59.2048 LVL= 32752, 26801, 32754, 32755, AGC= 68, IDX= 511,-0.03,-0.220, 1.922, 0.335, 0.634, PHS=-0.753, 1.333,-0.344, RAW= 319.3, -2.5, CAL= 318.1, -5.7, ROT= 191.9, 5.7
2025-09-20T20:13:57.021Z,1758399237.021 [DAT](INFO): got valid direction response:
20:13:59.2048 LVL= 32752, 26801, 32754, 32755, AGC= 68, IDX= 511,-0.03,-0.220, 1.922, 0.335, 0.634, PHS=-0.753, 1.333,-0.344, RAW= 319.3, -2.5, CAL= 318.1, -5.7, ROT= 191.9, 5.7
2025-09-20T20:13:57.021Z,1758399237.021 [DAT](INFO): #Rx 80: Read direction message, but no range.
2025-09-20T20:13:57.022Z,1758399237.022 [DAT](INFO): direction in FSK: [-0.973671,-0.205185,-0.099320]
2025-09-20T20:13:57.026Z,1758399237.026 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=37.585197
2025-09-20T20:13:57.272Z,1758399237.272 [DAT](INFO): DAT read: Rx Time:20:13:59.7050
2025-09-20T20:13:57.274Z,1758399237.274 [DAT](INFO): Rx dataTimestamp_ set to:1758399237.272804
2025-09-20T20:13:57.278Z,1758399237.278 [DAT](INFO): DAT read: Bearing 228.5, 3.2 (Local)
2025-09-20T20:13:57.279Z,1758399237.279 [DAT](INFO): Local bearing/azimuth received:
Bearing 228.5, 3.2 (Local)
2025-09-20T20:13:57.294Z,1758399237.294 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.2
2025-09-20T20:13:57.297Z,1758399237.297 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-09-20T20:13:57.304Z,1758399237.304 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=37.863136
2025-09-20T20:13:57.385Z,1758399237.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.501033 s,
deltaX: 0.299999 m,
approachRate: 0.598761 m/s,
rangeRepo size: 4
2025-09-20T20:13:57.392Z,1758399237.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.396902 m,
bearing: 84.574663 deg,
lat: 36.779270 deg,
lon: -121.859578 deg,
deltaT: 0.501033 s,
deltaX: 0.298721 m,
approachRate: 0.596211 m/s,
posRepo size: 4
2025-09-20T20:13:57.392Z,1758399237.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-09-20T20:13:57.524Z,1758399237.524 [DAT](INFO): DAT read: 20:13:59.7050 LVL= 32752, 26769, 32754, 32755, AGC= 68, IDX= 513,-0.01,-1.182, 0.785,-0.750,-0.482, PHS=-0.597, 1.313,-0.312, RAW= 322.0, -4.6, CAL= 321.2, -7.8, ROT= 188.8, 7.8
2025-09-20T20:13:57.525Z,1758399237.525 [DAT](INFO): got valid direction response:
20:13:59.7050 LVL= 32752, 26769, 32754, 32755, AGC= 68, IDX= 513,-0.01,-1.182, 0.785,-0.750,-0.482, PHS=-0.597, 1.313,-0.312, RAW= 322.0, -4.6, CAL= 321.2, -7.8, ROT= 188.8, 7.8
2025-09-20T20:13:57.525Z,1758399237.525 [DAT](INFO): #Rx 82: Read direction message, but no range.
2025-09-20T20:13:57.526Z,1758399237.526 [DAT](INFO): direction in FSK: [-0.979085,-0.151571,-0.135716]
2025-09-20T20:13:57.530Z,1758399237.530 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=38.089115
2025-09-20T20:13:57.789Z,1758399237.789 [DAT](INFO): DAT read: Rx Time:20:14:00.2050
2025-09-20T20:13:57.792Z,1758399237.792 [DAT](INFO): Rx dataTimestamp_ set to:1758399237.789983
2025-09-20T20:13:57.796Z,1758399237.796 [DAT](INFO): DAT read: Bearing 237.2, -4.4 (Local)
2025-09-20T20:13:57.798Z,1758399237.798 [DAT](INFO): Local bearing/azimuth received:
Bearing 237.2, -4.4 (Local)
2025-09-20T20:13:57.810Z,1758399237.810 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.3
2025-09-20T20:13:57.815Z,1758399237.815 [DAT](INFO): DAT read: 20:14:00.2050 LVL= 32752, 25793, 32754, 32755, AGC= 68, IDX= 513,-0.01,-2.270,-0.433,-1.598,-1.745, PHS=-0.423, 1.357, 0.104, RAW= 313.3, -13.0, CAL= 313.8, -16.9, ROT= 196.2, 16.9
2025-09-20T20:13:57.820Z,1758399237.820 [DAT](INFO): got valid direction response:
20:14:00.2050 LVL= 32752, 25793, 32754, 32755, AGC= 68, IDX= 513,-0.01,-2.270,-0.433,-1.598,-1.745, PHS=-0.423, 1.357, 0.104, RAW= 313.3, -13.0, CAL= 313.8, -16.9, ROT= 196.2, 16.9
2025-09-20T20:13:57.821Z,1758399237.821 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-09-20T20:13:57.822Z,1758399237.822 [DAT](INFO): direction in FSK: [-0.918822,-0.266942,-0.290702]
2025-09-20T20:13:57.822Z,1758399237.822 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:57.830Z,1758399237.830 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=38.389675
2025-09-20T20:13:57.875Z,1758399237.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.500000 m,
deltaT: 0.517179 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:57.877Z,1758399237.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.396902 m,
bearing: 87.487185 deg,
lat: 36.779270 deg,
lon: -121.859578 deg,
deltaT: 0.517179 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:57.878Z,1758399237.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-09-20T20:13:58.036Z,1758399238.036 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=38.595394
2025-09-20T20:13:58.161Z,1758399238.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.40 m.
2025-09-20T20:13:58.293Z,1758399238.293 [DAT](INFO): DAT read: Rx Time:20:14:00.7052
2025-09-20T20:13:58.295Z,1758399238.295 [DAT](INFO): Rx dataTimestamp_ set to:1758399238.294273
2025-09-20T20:13:58.301Z,1758399238.301 [DAT](INFO): DAT read: Bearing 226.2, 1.1 (Local)
2025-09-20T20:13:58.301Z,1758399238.301 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.2, 1.1 (Local)
2025-09-20T20:13:58.305Z,1758399238.305 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.2
2025-09-20T20:13:58.312Z,1758399238.312 [DAT](INFO): DAT read: 20:14:00.7052 LVL= 32752, 32753, 32306, 32755, AGC= 65, IDX= 3,-0.03, 1.050,-3.042, 1.598, 1.920, PHS=-0.768, 1.366,-0.366, RAW= 319.8, -2.4, CAL= 318.6, -5.6, ROT= 191.4, 5.6
2025-09-20T20:13:58.313Z,1758399238.313 [DAT](INFO): got valid direction response:
20:14:00.7052 LVL= 32752, 32753, 32306, 32755, AGC= 65, IDX= 3,-0.03, 1.050,-3.042, 1.598, 1.920, PHS=-0.768, 1.366,-0.366, RAW= 319.8, -2.4, CAL= 318.6, -5.6, ROT= 191.4, 5.6
2025-09-20T20:13:58.313Z,1758399238.313 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-09-20T20:13:58.314Z,1758399238.314 [DAT](INFO): direction in FSK: [-0.975593,-0.196714,-0.097583]
2025-09-20T20:13:58.315Z,1758399238.315 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:58.318Z,1758399238.318 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=38.877529
2025-09-20T20:13:58.540Z,1758399238.540 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=39.099529
2025-09-20T20:13:58.560Z,1758399238.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.504290 s,
deltaX: 0.299999 m,
approachRate: 0.594894 m/s,
rangeRepo size: 4
2025-09-20T20:13:58.562Z,1758399238.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.695642 m,
bearing: 84.201240 deg,
lat: 36.779270 deg,
lon: -121.859577 deg,
deltaT: 0.504290 s,
deltaX: 0.298740 m,
approachRate: 0.592398 m/s,
posRepo size: 4
2025-09-20T20:13:58.563Z,1758399238.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.70 m.
2025-09-20T20:13:58.799Z,1758399238.799 [DAT](INFO): DAT read: Rx Time:20:14:01.2052
2025-09-20T20:13:58.801Z,1758399238.801 [DAT](INFO): Rx dataTimestamp_ set to:1758399238.799801
2025-09-20T20:13:58.804Z,1758399238.804 [DAT](INFO): DAT read: Bearing 226.6, 0.8 (Local)
2025-09-20T20:13:58.804Z,1758399238.804 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.6, 0.8 (Local)
2025-09-20T20:13:58.808Z,1758399238.808 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.2
2025-09-20T20:13:58.817Z,1758399238.817 [DAT](INFO): DAT read: 20:14:01.2052 LVL= 32752, 29297, 32754, 32755, AGC= 68, IDX= 499,-0.06,-0.399, 1.785, 0.161, 0.459, PHS=-0.756, 1.371,-0.341, RAW= 319.4, -2.8, CAL= 318.3, -6.0, ROT= 191.7, 6.0
2025-09-20T20:13:58.818Z,1758399238.818 [DAT](INFO): got valid direction response:
20:14:01.2052 LVL= 32752, 29297, 32754, 32755, AGC= 68, IDX= 499,-0.06,-0.399, 1.785, 0.161, 0.459, PHS=-0.756, 1.371,-0.341, RAW= 319.4, -2.8, CAL= 318.3, -6.0, ROT= 191.7, 6.0
2025-09-20T20:13:58.818Z,1758399238.818 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-09-20T20:13:58.823Z,1758399238.823 [DAT](INFO): direction in FSK: [-0.973859,-0.201676,-0.104528]
2025-09-20T20:13:58.824Z,1758399238.824 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:58.836Z,1758399238.836 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.395187
2025-09-20T20:13:58.982Z,1758399238.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.799999 m,
deltaT: 0.505528 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:58.985Z,1758399238.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.695642 m,
bearing: 84.454206 deg,
lat: 36.779270 deg,
lon: -121.859577 deg,
deltaT: 0.505528 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:58.985Z,1758399238.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.70 m.
2025-09-20T20:13:59.045Z,1758399239.045 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=39.604256
2025-09-20T20:13:59.300Z,1758399239.300 [DAT](INFO): DAT read: Rx Time:20:14:01.7053
2025-09-20T20:13:59.301Z,1758399239.301 [DAT](INFO): Rx dataTimestamp_ set to:1758399239.300495
2025-09-20T20:13:59.303Z,1758399239.303 [DAT](INFO): DAT read: Bearing 227.4, 0.5 (Local)
2025-09-20T20:13:59.304Z,1758399239.304 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.4, 0.5 (Local)
2025-09-20T20:13:59.307Z,1758399239.307 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.3
2025-09-20T20:13:59.340Z,1758399239.340 [DAT](INFO): DAT read: 20:14:01.7053 LVL= 32752, 24785, 32754, 32755, AGC= 68, IDX= 500,-0.10,-0.175, 1.988, 0.392, 0.655, PHS=-0.728, 1.379,-0.307, RAW= 319.1, -3.6, CAL= 318.1, -6.8, ROT= 191.9, 6.8
2025-09-20T20:13:59.341Z,1758399239.341 [DAT](INFO): got valid direction response:
20:14:01.7053 LVL= 32752, 24785, 32754, 32755, AGC= 68, IDX= 500,-0.10,-0.175, 1.988, 0.392, 0.655, PHS=-0.728, 1.379,-0.307, RAW= 319.1, -3.6, CAL= 318.1, -6.8, ROT= 191.9, 6.8
2025-09-20T20:13:59.341Z,1758399239.341 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-09-20T20:13:59.342Z,1758399239.342 [DAT](INFO): direction in FSK: [-0.971626,-0.204754,-0.118404]
2025-09-20T20:13:59.342Z,1758399239.342 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:59.358Z,1758399239.358 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=39.917603
2025-09-20T20:13:59.394Z,1758399239.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.500694 s,
deltaX: 0.100000 m,
approachRate: 0.199724 m/s,
rangeRepo size: 4
2025-09-20T20:13:59.398Z,1758399239.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.795254 m,
bearing: 84.601733 deg,
lat: 36.779270 deg,
lon: -121.859577 deg,
deltaT: 0.500694 s,
deltaX: 0.099611 m,
approachRate: 0.198946 m/s,
posRepo size: 4
2025-09-20T20:13:59.411Z,1758399239.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-09-20T20:13:59.548Z,1758399239.548 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=40.107487
2025-09-20T20:13:59.802Z,1758399239.802 [DAT](INFO): DAT read: Rx Time:20:14:02.2053
2025-09-20T20:13:59.803Z,1758399239.803 [DAT](INFO): Rx dataTimestamp_ set to:1758399239.802626
2025-09-20T20:13:59.806Z,1758399239.806 [DAT](INFO): DAT read: Bearing 226.7, 0.7 (Local)
2025-09-20T20:13:59.806Z,1758399239.806 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.7, 0.7 (Local)
2025-09-20T20:13:59.808Z,1758399239.808 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.3
2025-09-20T20:13:59.813Z,1758399239.813 [DAT](INFO): DAT read: 20:14:02.2053 LVL= 32752, 28369, 32754, 32755, AGC= 68, IDX= 500,-0.14,-1.243, 0.926,-0.685,-0.395, PHS=-0.746, 1.366,-0.334, RAW= 319.4, -3.0, CAL= 318.3, -6.2, ROT= 191.7, 6.2
2025-09-20T20:13:59.814Z,1758399239.814 [DAT](INFO): got valid direction response:
20:14:02.2053 LVL= 32752, 28369, 32754, 32755, AGC= 68, IDX= 500,-0.14,-1.243, 0.926,-0.685,-0.395, PHS=-0.746, 1.366,-0.334, RAW= 319.4, -3.0, CAL= 318.3, -6.2, ROT= 191.7, 6.2
2025-09-20T20:13:59.814Z,1758399239.814 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-09-20T20:13:59.821Z,1758399239.821 [DAT](INFO): direction in FSK: [-0.973495,-0.201601,-0.107999]
2025-09-20T20:13:59.821Z,1758399239.821 [DAT](INFO): publishing direction and range info
2025-09-20T20:13:59.840Z,1758399239.840 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.399506
2025-09-20T20:13:59.928Z,1758399239.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.502131 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:13:59.930Z,1758399239.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.795254 m,
bearing: 84.475538 deg,
lat: 36.779271 deg,
lon: -121.859578 deg,
deltaT: 0.502131 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:13:59.930Z,1758399239.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-09-20T20:14:00.052Z,1758399240.052 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=40.611557
2025-09-20T20:14:00.189Z,1758399240.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.80 m.
2025-09-20T20:14:00.306Z,1758399240.306 [DAT](INFO): DAT read: Rx Time:20:14:02.7055
2025-09-20T20:14:00.306Z,1758399240.306 [DAT](INFO): Rx dataTimestamp_ set to:1758399240.305943
2025-09-20T20:14:00.308Z,1758399240.308 [DAT](INFO): DAT read: Bearing 226.6, 0.9 (Local)
2025-09-20T20:14:00.309Z,1758399240.309 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.6, 0.9 (Local)
2025-09-20T20:14:00.311Z,1758399240.311 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3
2025-09-20T20:14:00.316Z,1758399240.316 [DAT](INFO): DAT read: 20:14:02.7055 LVL= 32752, 28081, 32754, 32755, AGC= 69, IDX= 502,-0.22, 0.070, 2.245, 0.624, 0.923, PHS=-0.750, 1.368,-0.343, RAW= 319.6, -2.9, CAL= 318.4, -6.0, ROT= 191.6, 6.0
2025-09-20T20:14:00.317Z,1758399240.317 [DAT](INFO): got valid direction response:
20:14:02.7055 LVL= 32752, 28081, 32754, 32755, AGC= 69, IDX= 502,-0.22, 0.070, 2.245, 0.624, 0.923, PHS=-0.750, 1.368,-0.343, RAW= 319.6, -2.9, CAL= 318.4, -6.0, ROT= 191.6, 6.0
2025-09-20T20:14:00.318Z,1758399240.318 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-09-20T20:14:00.319Z,1758399240.319 [DAT](INFO): direction in FSK: [-0.974209,-0.199976,-0.104528]
2025-09-20T20:14:00.319Z,1758399240.319 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:00.322Z,1758399240.322 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=40.881847
2025-09-20T20:14:00.556Z,1758399240.556 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=41.115452
2025-09-20T20:14:00.600Z,1758399240.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 0.503317 s,
deltaX: 0.200001 m,
approachRate: 0.397365 m/s,
rangeRepo size: 4
2025-09-20T20:14:00.602Z,1758399240.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.994486 m,
bearing: 84.482739 deg,
lat: 36.779271 deg,
lon: -121.859578 deg,
deltaT: 0.503317 s,
deltaX: 0.199232 m,
approachRate: 0.395838 m/s,
posRepo size: 4
2025-09-20T20:14:00.602Z,1758399240.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-09-20T20:14:00.809Z,1758399240.809 [DAT](INFO): DAT read: Rx Time:20:14:03.2055
2025-09-20T20:14:00.809Z,1758399240.809 [DAT](INFO): Rx dataTimestamp_ set to:1758399240.808838
2025-09-20T20:14:00.810Z,1758399240.810 [DAT](INFO): DAT read: Bearing 226.8, 0.8 (Local)
2025-09-20T20:14:00.811Z,1758399240.811 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.8, 0.8 (Local)
2025-09-20T20:14:00.813Z,1758399240.813 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed -0.3
2025-09-20T20:14:00.817Z,1758399240.817 [DAT](INFO): DAT read: 20:14:03.2055 LVL= 32752, 29777, 32754, 32755, AGC= 67, IDX= 502,-0.25,-1.708, 0.465,-1.150,-0.859, PHS=-0.747, 1.369,-0.335, RAW= 319.4, -3.0, CAL= 318.3, -6.2, ROT= 191.7, 6.2
2025-09-20T20:14:00.818Z,1758399240.818 [DAT](INFO): got valid direction response:
20:14:03.2055 LVL= 32752, 29777, 32754, 32755, AGC= 67, IDX= 502,-0.25,-1.708, 0.465,-1.150,-0.859, PHS=-0.747, 1.369,-0.335, RAW= 319.4, -3.0, CAL= 318.3, -6.2, ROT= 191.7, 6.2
2025-09-20T20:14:00.819Z,1758399240.819 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-09-20T20:14:00.820Z,1758399240.820 [DAT](INFO): direction in FSK: [-0.973495,-0.201601,-0.107999]
2025-09-20T20:14:00.820Z,1758399240.820 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:00.824Z,1758399240.824 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.383003
2025-09-20T20:14:01.024Z,1758399241.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.100000 m,
deltaT: 0.502895 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:01.026Z,1758399241.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.994486 m,
bearing: 84.581842 deg,
lat: 36.779271 deg,
lon: -121.859579 deg,
deltaT: 0.502895 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:01.026Z,1758399241.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.99 m.
2025-09-20T20:14:01.061Z,1758399241.061 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=41.619801
2025-09-20T20:14:01.313Z,1758399241.313 [DAT](INFO): DAT read: Rx Time:20:14:03.7057
2025-09-20T20:14:01.313Z,1758399241.313 [DAT](INFO): Rx dataTimestamp_ set to:1758399241.312842
2025-09-20T20:14:01.314Z,1758399241.314 [DAT](INFO): DAT read: Bearing 227.1, 0.9 (Local)
2025-09-20T20:14:01.315Z,1758399241.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.1, 0.9 (Local)
2025-09-20T20:14:01.317Z,1758399241.317 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.2
2025-09-20T20:14:01.339Z,1758399241.339 [DAT](INFO): DAT read: 20:14:03.7057 LVL= 32752, 28273, 32754, 32755, AGC= 68, IDX= 504,-0.29,-0.359, 1.845, 0.201, 0.494, PHS=-0.750, 1.396,-0.336, RAW= 319.5, -3.2, CAL= 318.4, -6.4, ROT= 191.6, 6.4
2025-09-20T20:14:01.341Z,1758399241.341 [DAT](INFO): got valid direction response:
20:14:03.7057 LVL= 32752, 28273, 32754, 32755, AGC= 68, IDX= 504,-0.29,-0.359, 1.845, 0.201, 0.494, PHS=-0.750, 1.396,-0.336, RAW= 319.5, -3.2, CAL= 318.4, -6.4, ROT= 191.6, 6.4
2025-09-20T20:14:01.341Z,1758399241.341 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-09-20T20:14:01.342Z,1758399241.342 [DAT](INFO): direction in FSK: [-0.973470,-0.199825,-0.111469]
2025-09-20T20:14:01.342Z,1758399241.342 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:01.351Z,1758399241.351 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=41.909924
2025-09-20T20:14:01.455Z,1758399241.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.400000 m,
deltaT: 0.504004 s,
deltaX: 0.299999 m,
approachRate: 0.595232 m/s,
rangeRepo size: 4
2025-09-20T20:14:01.457Z,1758399241.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.293329 m,
bearing: 84.473583 deg,
lat: 36.779271 deg,
lon: -121.859579 deg,
deltaT: 0.504004 s,
deltaX: 0.298843 m,
approachRate: 0.592939 m/s,
posRepo size: 4
2025-09-20T20:14:01.457Z,1758399241.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:14:01.565Z,1758399241.565 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=42.124500
2025-09-20T20:14:01.816Z,1758399241.816 [DAT](INFO): DAT read: Rx Time:20:14:04.2057
2025-09-20T20:14:01.817Z,1758399241.817 [DAT](INFO): Rx dataTimestamp_ set to:1758399241.816644
2025-09-20T20:14:01.818Z,1758399241.818 [DAT](INFO): DAT read: Bearing 227.3, 0.7 (Local)
2025-09-20T20:14:01.818Z,1758399241.818 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.3, 0.7 (Local)
2025-09-20T20:14:01.821Z,1758399241.821 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.2
2025-09-20T20:14:01.825Z,1758399241.825 [DAT](INFO): DAT read: 20:14:04.2057 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 504,-0.31,-2.006, 0.158,-1.446,-1.171, PHS=-0.733, 1.374,-0.319, RAW= 319.3, -3.4, CAL= 318.3, -6.6, ROT= 191.7, 6.6
2025-09-20T20:14:01.826Z,1758399241.826 [DAT](INFO): got valid direction response:
20:14:04.2057 LVL= 32752, 25073, 32754, 32755, AGC= 68, IDX= 504,-0.31,-2.006, 0.158,-1.446,-1.171, PHS=-0.733, 1.374,-0.319, RAW= 319.3, -3.4, CAL= 318.3, -6.6, ROT= 191.7, 6.6
2025-09-20T20:14:01.827Z,1758399241.827 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-09-20T20:14:01.828Z,1758399241.828 [DAT](INFO): direction in FSK: [-0.972733,-0.201443,-0.114937]
2025-09-20T20:14:01.828Z,1758399241.828 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:01.831Z,1758399241.831 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.390743
2025-09-20T20:14:01.935Z,1758399241.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.400000 m,
deltaT: 0.503802 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:01.937Z,1758399241.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.293329 m,
bearing: 84.543019 deg,
lat: 36.779271 deg,
lon: -121.859579 deg,
deltaT: 0.503802 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:01.938Z,1758399241.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:14:02.068Z,1758399242.068 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=42.627712
2025-09-20T20:14:02.234Z,1758399242.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:14:02.321Z,1758399242.321 [DAT](INFO): DAT read: Rx Time:20:14:04.7059
2025-09-20T20:14:02.322Z,1758399242.322 [DAT](INFO): Rx dataTimestamp_ set to:1758399242.321471
2025-09-20T20:14:02.324Z,1758399242.324 [DAT](INFO): DAT read: Bearing 227.6, 0.8 (Local)
2025-09-20T20:14:02.324Z,1758399242.324 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.6, 0.8 (Local)
2025-09-20T20:14:02.327Z,1758399242.327 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed -0.1
2025-09-20T20:14:02.334Z,1758399242.334 [DAT](INFO): DAT read: 20:14:04.7059 LVL= 32752, 26849, 32754, 32755, AGC= 68, IDX= 506,-0.35,-0.523, 1.659, 0.038, 0.310, PHS=-0.731, 1.394,-0.316, RAW= 319.4, -3.6, CAL= 318.4, -6.8, ROT= 191.6, 6.8
2025-09-20T20:14:02.336Z,1758399242.336 [DAT](INFO): got valid direction response:
20:14:04.7059 LVL= 32752, 26849, 32754, 32755, AGC= 68, IDX= 506,-0.35,-0.523, 1.659, 0.038, 0.310, PHS=-0.731, 1.394,-0.316, RAW= 319.4, -3.6, CAL= 318.4, -6.8, ROT= 191.6, 6.8
2025-09-20T20:14:02.336Z,1758399242.336 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-09-20T20:14:02.338Z,1758399242.338 [DAT](INFO): direction in FSK: [-0.972684,-0.199663,-0.118404]
2025-09-20T20:14:02.338Z,1758399242.338 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:02.355Z,1758399242.355 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=42.914852
2025-09-20T20:14:02.572Z,1758399242.572 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.131420
2025-09-20T20:14:02.649Z,1758399242.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.700001 m,
deltaT: 0.504827 s,
deltaX: 0.300001 m,
approachRate: 0.594265 m/s,
rangeRepo size: 4
2025-09-20T20:14:02.651Z,1758399242.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.591902 m,
bearing: 84.391701 deg,
lat: 36.779271 deg,
lon: -121.859579 deg,
deltaT: 0.504827 s,
deltaX: 0.298573 m,
approachRate: 0.591435 m/s,
posRepo size: 4
2025-09-20T20:14:02.651Z,1758399242.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.59 m.
2025-09-20T20:14:02.825Z,1758399242.825 [DAT](INFO): DAT read: Rx Time:20:14:05.2059
2025-09-20T20:14:02.825Z,1758399242.825 [DAT](INFO): Rx dataTimestamp_ set to:1758399242.825180
2025-09-20T20:14:02.827Z,1758399242.827 [DAT](INFO): DAT read: Bearing 227.5, 0.8 (Local)
2025-09-20T20:14:02.827Z,1758399242.827 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.5, 0.8 (Local)
2025-09-20T20:14:02.829Z,1758399242.829 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed -0.2
2025-09-20T20:14:02.834Z,1758399242.834 [DAT](INFO): DAT read: 20:14:05.2059 LVL= 32752, 26097, 32754, 32755, AGC= 68, IDX= 506,-0.35,-1.974, 0.192,-1.416,-1.144, PHS=-0.728, 1.381,-0.316, RAW= 319.4, -3.5, CAL= 318.3, -6.8, ROT= 191.7, 6.8
2025-09-20T20:14:02.835Z,1758399242.835 [DAT](INFO): got valid direction response:
20:14:05.2059 LVL= 32752, 26097, 32754, 32755, AGC= 68, IDX= 506,-0.35,-1.974, 0.192,-1.416,-1.144, PHS=-0.728, 1.381,-0.316, RAW= 319.4, -3.5, CAL= 318.3, -6.8, ROT= 191.7, 6.8
2025-09-20T20:14:02.835Z,1758399242.835 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-09-20T20:14:02.836Z,1758399242.836 [DAT](INFO): direction in FSK: [-0.972334,-0.201361,-0.118404]
2025-09-20T20:14:02.836Z,1758399242.836 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:02.849Z,1758399242.849 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.408470
2025-09-20T20:14:03.069Z,1758399243.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.700001 m,
deltaT: 0.503709 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:03.071Z,1758399243.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.591902 m,
bearing: 84.487815 deg,
lat: 36.779271 deg,
lon: -121.859579 deg,
deltaT: 0.503709 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:03.072Z,1758399243.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.59 m.
2025-09-20T20:14:03.076Z,1758399243.076 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=43.635567
2025-09-20T20:14:03.329Z,1758399243.329 [DAT](INFO): DAT read: Rx Time:20:14:05.7060
2025-09-20T20:14:03.329Z,1758399243.329 [DAT](INFO): Rx dataTimestamp_ set to:1758399243.328762
2025-09-20T20:14:03.330Z,1758399243.330 [DAT](INFO): DAT read: Bearing 227.0, 0.8 (Local)
2025-09-20T20:14:03.331Z,1758399243.331 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.0, 0.8 (Local)
2025-09-20T20:14:03.333Z,1758399243.333 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2
2025-09-20T20:14:03.337Z,1758399243.337 [DAT](INFO): DAT read: 20:14:05.7060 LVL= 32752, 25457, 32754, 32755, AGC= 67, IDX= 507,-0.38,-1.442, 0.716,-0.890,-0.608, PHS=-0.732, 1.369,-0.326, RAW= 319.5, -3.3, CAL= 318.4, -6.5, ROT= 191.6, 6.5
2025-09-20T20:14:03.338Z,1758399243.338 [DAT](INFO): got valid direction response:
20:14:05.7060 LVL= 32752, 25457, 32754, 32755, AGC= 67, IDX= 507,-0.38,-1.442, 0.716,-0.890,-0.608, PHS=-0.732, 1.369,-0.326, RAW= 319.5, -3.3, CAL= 318.4, -6.5, ROT= 191.6, 6.5
2025-09-20T20:14:03.339Z,1758399243.339 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-09-20T20:14:03.340Z,1758399243.340 [DAT](INFO): direction in FSK: [-0.973278,-0.199785,-0.113203]
2025-09-20T20:14:03.340Z,1758399243.340 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:03.366Z,1758399243.366 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=43.925304
2025-09-20T20:14:03.477Z,1758399243.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 0.503582 s,
deltaX: 0.099998 m,
approachRate: 0.198574 m/s,
rangeRepo size: 4
2025-09-20T20:14:03.483Z,1758399243.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.691607 m,
bearing: 84.408164 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.503582 s,
deltaX: 0.099705 m,
approachRate: 0.197991 m/s,
posRepo size: 4
2025-09-20T20:14:03.484Z,1758399243.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m.
2025-09-20T20:14:03.581Z,1758399243.581 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.140160
2025-09-20T20:14:03.833Z,1758399243.833 [DAT](INFO): DAT read: Rx Time:20:14:06.2060
2025-09-20T20:14:03.833Z,1758399243.833 [DAT](INFO): Rx dataTimestamp_ set to:1758399243.832918
2025-09-20T20:14:03.834Z,1758399243.834 [DAT](INFO): DAT read: Bearing 227.1, 0.6 (Local)
2025-09-20T20:14:03.835Z,1758399243.835 [DAT](INFO): Local bearing/azimuth received:
Bearing 227.1, 0.6 (Local)
2025-09-20T20:14:03.837Z,1758399243.837 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2
2025-09-20T20:14:03.842Z,1758399243.842 [DAT](INFO): DAT read: 20:14:06.2060 LVL= 32752, 27761, 32754, 32755, AGC= 69, IDX= 507,-0.40,-2.666,-0.531,-2.113,-1.847, PHS=-0.717, 1.361,-0.311, RAW= 319.4, -3.5, CAL= 318.3, -6.8, ROT= 191.7, 6.8
2025-09-20T20:14:03.843Z,1758399243.843 [DAT](INFO): got valid direction response:
20:14:06.2060 LVL= 32752, 27761, 32754, 32755, AGC= 69, IDX= 507,-0.40,-2.666,-0.531,-2.113,-1.847, PHS=-0.717, 1.361,-0.311, RAW= 319.4, -3.5, CAL= 318.3, -6.8, ROT= 191.7, 6.8
2025-09-20T20:14:03.844Z,1758399243.844 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-09-20T20:14:03.845Z,1758399243.845 [DAT](INFO): direction in FSK: [-0.972334,-0.201361,-0.118404]
2025-09-20T20:14:03.845Z,1758399243.845 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:03.849Z,1758399243.849 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.407944
2025-09-20T20:14:03.946Z,1758399243.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 0.504156 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:03.952Z,1758399243.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.691607 m,
bearing: 84.471776 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.504156 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:03.953Z,1758399243.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m.
2025-09-20T20:14:04.084Z,1758399244.084 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=44.643604
2025-09-20T20:14:04.314Z,1758399244.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m.
2025-09-20T20:14:04.337Z,1758399244.337 [DAT](INFO): DAT read: Rx Time:20:14:06.7062
2025-09-20T20:14:04.337Z,1758399244.337 [DAT](INFO): Rx dataTimestamp_ set to:1758399244.337115
2025-09-20T20:14:04.339Z,1758399244.339 [DAT](INFO): DAT read: Bearing 226.6, 0.5 (Local)
2025-09-20T20:14:04.339Z,1758399244.339 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.6, 0.5 (Local)
2025-09-20T20:14:04.341Z,1758399244.341 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.3
2025-09-20T20:14:04.346Z,1758399244.346 [DAT](INFO): DAT read: 20:14:06.7062 LVL= 32752, 28049, 32754, 32755, AGC= 67, IDX= 509,-0.41,-1.523, 0.622,-0.968,-0.693, PHS=-0.728, 1.360,-0.319, RAW= 319.4, -3.3, CAL= 318.3, -6.5, ROT= 191.7, 6.5
2025-09-20T20:14:04.347Z,1758399244.347 [DAT](INFO): got valid direction response:
20:14:06.7062 LVL= 32752, 28049, 32754, 32755, AGC= 67, IDX= 509,-0.41,-1.523, 0.622,-0.968,-0.693, PHS=-0.728, 1.360,-0.319, RAW= 319.4, -3.3, CAL= 318.3, -6.5, ROT= 191.7, 6.5
2025-09-20T20:14:04.347Z,1758399244.347 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-09-20T20:14:04.348Z,1758399244.348 [DAT](INFO): direction in FSK: [-0.972928,-0.201484,-0.113203]
2025-09-20T20:14:04.349Z,1758399244.349 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:04.360Z,1758399244.360 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=44.919682
2025-09-20T20:14:04.588Z,1758399244.588 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.147419
2025-09-20T20:14:04.661Z,1758399244.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.100000 m,
deltaT: 0.504197 s,
deltaX: 0.300001 m,
approachRate: 0.595008 m/s,
rangeRepo size: 4
2025-09-20T20:14:04.663Z,1758399244.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.990360 m,
bearing: 84.465230 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.504197 s,
deltaX: 0.298754 m,
approachRate: 0.592534 m/s,
posRepo size: 4
2025-09-20T20:14:04.664Z,1758399244.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.99 m.
2025-09-20T20:14:04.841Z,1758399244.841 [DAT](INFO): DAT read: Rx Time:20:14:07.2061
2025-09-20T20:14:04.841Z,1758399244.841 [DAT](INFO): Rx dataTimestamp_ set to:1758399244.840718
2025-09-20T20:14:04.842Z,1758399244.842 [DAT](INFO): DAT read: Bearing 226.4, 0.4 (Local)
2025-09-20T20:14:04.843Z,1758399244.843 [DAT](INFO): Local bearing/azimuth received:
Bearing 226.4, 0.4 (Local)
2025-09-20T20:14:04.845Z,1758399244.845 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1
2025-09-20T20:14:04.849Z,1758399244.849 [DAT](INFO): DAT read: 20:14:07.2061 LVL= 32752, 25377, 32754, 32755, AGC= 68, IDX= 509,-0.38,-2.665,-0.505,-2.108,-1.831, PHS=-0.732, 1.371,-0.321, RAW= 319.4, -3.3, CAL= 318.3, -6.6, ROT= 191.7, 6.6
2025-09-20T20:14:04.850Z,1758399244.850 [DAT](INFO): got valid direction response:
20:14:07.2061 LVL= 32752, 25377, 32754, 32755, AGC= 68, IDX= 509,-0.38,-2.665,-0.505,-2.108,-1.831, PHS=-0.732, 1.371,-0.321, RAW= 319.4, -3.3, CAL= 318.3, -6.6, ROT= 191.7, 6.6
2025-09-20T20:14:04.851Z,1758399244.851 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-09-20T20:14:04.852Z,1758399244.852 [DAT](INFO): direction in FSK: [-0.972733,-0.201443,-0.114937]
2025-09-20T20:14:04.852Z,1758399244.852 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:04.856Z,1758399244.856 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.415169
2025-09-20T20:14:05.092Z,1758399245.092 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=45.651501
2025-09-20T20:14:05.099Z,1758399245.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.000000 m,
deltaT: 0.503603 s,
deltaX: -0.100000 m,
approachRate: -0.198570 m/s,
rangeRepo size: 4
2025-09-20T20:14:05.101Z,1758399245.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.890779 m,
bearing: 84.461552 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.503603 s,
deltaX: -0.099581 m,
approachRate: -0.197737 m/s,
posRepo size: 4
2025-09-20T20:14:05.102Z,1758399245.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-09-20T20:14:05.345Z,1758399245.345 [DAT](INFO): DAT read: Rx Time:20:14:07.7063
2025-09-20T20:14:05.345Z,1758399245.345 [DAT](INFO): Rx dataTimestamp_ set to:1758399245.344826
2025-09-20T20:14:05.346Z,1758399245.346 [DAT](INFO): DAT read: Bearing 225.7, 0.6 (Local)
2025-09-20T20:14:05.347Z,1758399245.347 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.7, 0.6 (Local)
2025-09-20T20:14:05.349Z,1758399245.349 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.3
2025-09-20T20:14:05.354Z,1758399245.354 [DAT](INFO): DAT read: 20:14:07.7063 LVL= 32752, 27025, 32754, 32755, AGC= 68, IDX= 511,-0.36,-2.136, 0.033,-1.588,-1.286, PHS=-0.747, 1.365,-0.345, RAW= 319.7, -2.8, CAL= 318.5, -6.0, ROT= 191.5, 6.0
2025-09-20T20:14:05.355Z,1758399245.355 [DAT](INFO): got valid direction response:
20:14:07.7063 LVL= 32752, 27025, 32754, 32755, AGC= 68, IDX= 511,-0.36,-2.136, 0.033,-1.588,-1.286, PHS=-0.747, 1.365,-0.345, RAW= 319.7, -2.8, CAL= 318.5, -6.0, ROT= 191.5, 6.0
2025-09-20T20:14:05.355Z,1758399245.355 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-09-20T20:14:05.356Z,1758399245.356 [DAT](INFO): direction in FSK: [-0.974557,-0.198276,-0.104528]
2025-09-20T20:14:05.356Z,1758399245.356 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:05.380Z,1758399245.380 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=45.939316
2025-09-20T20:14:05.488Z,1758399245.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.299999 m,
deltaT: 0.504108 s,
deltaX: 0.299999 m,
approachRate: 0.595109 m/s,
rangeRepo size: 4
2025-09-20T20:14:05.490Z,1758399245.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.189528 m,
bearing: 84.343105 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.504108 s,
deltaX: 0.298748 m,
approachRate: 0.592627 m/s,
posRepo size: 4
2025-09-20T20:14:05.491Z,1758399245.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.19 m.
2025-09-20T20:14:05.597Z,1758399245.597 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.155888
2025-09-20T20:14:05.848Z,1758399245.848 [DAT](INFO): DAT read: Rx Time:20:14:08.2063
2025-09-20T20:14:05.849Z,1758399245.849 [DAT](INFO): Rx dataTimestamp_ set to:1758399245.848647
2025-09-20T20:14:05.850Z,1758399245.850 [DAT](INFO): DAT read: Bearing 225.6, 0.4 (Local)
2025-09-20T20:14:05.850Z,1758399245.850 [DAT](INFO): Local bearing/azimuth received:
Bearing 225.6, 0.4 (Local)
2025-09-20T20:14:05.853Z,1758399245.853 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed -0.3
2025-09-20T20:14:05.857Z,1758399245.857 [DAT](INFO): DAT read: 20:14:08.2063 LVL= 32752, 27553, 32754, 32755, AGC= 68, IDX= 511,-0.39,-2.657,-0.497,-2.108,-1.816, PHS=-0.739, 1.363,-0.336, RAW= 319.6, -3.0, CAL= 318.5, -6.2, ROT= 191.5, 6.2
2025-09-20T20:14:05.858Z,1758399245.858 [DAT](INFO): got valid direction response:
20:14:08.2063 LVL= 32752, 27553, 32754, 32755, AGC= 68, IDX= 511,-0.39,-2.657,-0.497,-2.108,-1.816, PHS=-0.739, 1.363,-0.336, RAW= 319.6, -3.0, CAL= 318.5, -6.2, ROT= 191.5, 6.2
2025-09-20T20:14:05.859Z,1758399245.859 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-09-20T20:14:05.860Z,1758399245.860 [DAT](INFO): direction in FSK: [-0.974193,-0.198202,-0.107999]
2025-09-20T20:14:05.860Z,1758399245.860 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:05.864Z,1758399245.864 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.423355
2025-09-20T20:14:05.997Z,1758399245.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.299999 m,
deltaT: 0.503821 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:06.004Z,1758399246.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.189528 m,
bearing: 84.332364 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.503821 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:06.004Z,1758399246.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.19 m.
2025-09-20T20:14:06.040Z,1758399246.040 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:14:06.100Z,1758399246.100 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=46.659576
2025-09-20T20:14:06.356Z,1758399246.356 [DAT](INFO): DAT read: Rx Time:20:14:08.7065
2025-09-20T20:14:06.357Z,1758399246.357 [DAT](INFO): Rx dataTimestamp_ set to:1758399246.356259
2025-09-20T20:14:06.358Z,1758399246.358 [DAT](INFO): DAT read: Bearing 224.9, 1.8 (Local)
2025-09-20T20:14:06.358Z,1758399246.358 [DAT](INFO): Local bearing/azimuth received:
Bearing 224.9, 1.8 (Local)
2025-09-20T20:14:06.361Z,1758399246.361 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.2
2025-09-20T20:14:06.394Z,1758399246.394 [DAT](INFO): DAT read: 20:14:08.7065 LVL= 32752, 27953, 32754, 32755, AGC= 68, IDX= 513,-0.40, 2.612,-1.995, 3.024,-3.000, PHS=-0.569, 1.050,-0.303, RAW= 321.2, -2.4, CAL= 320.0, -5.5, ROT= 190.0, 5.5
2025-09-20T20:14:06.403Z,1758399246.403 [DAT](INFO): got valid direction response:
20:14:08.7065 LVL= 32752, 27953, 32754, 32755, AGC= 68, IDX= 513,-0.40, 2.612,-1.995, 3.024,-3.000, PHS=-0.569, 1.050,-0.303, RAW= 321.2, -2.4, CAL= 320.0, -5.5, ROT= 190.0, 5.5
2025-09-20T20:14:06.403Z,1758399246.403 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-09-20T20:14:06.404Z,1758399246.404 [DAT](INFO): direction in FSK: [-0.980274,-0.172849,-0.095846]
2025-09-20T20:14:06.405Z,1758399246.405 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:06.418Z,1758399246.418 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=46.977837
2025-09-20T20:14:06.536Z,1758399246.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.600000 m,
deltaT: 0.507612 s,
deltaX: 0.300001 m,
approachRate: 0.591005 m/s,
rangeRepo size: 4
2025-09-20T20:14:06.538Z,1758399246.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.488285 m,
bearing: 82.973981 deg,
lat: 36.779273 deg,
lon: -121.859579 deg,
deltaT: 0.507612 s,
deltaX: 0.298758 m,
approachRate: 0.588555 m/s,
posRepo size: 4
2025-09-20T20:14:06.539Z,1758399246.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m.
2025-09-20T20:14:06.604Z,1758399246.604 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.163639
2025-09-20T20:14:06.857Z,1758399246.857 [DAT](INFO): DAT read: Rx Time:20:14:09.2065
2025-09-20T20:14:06.857Z,1758399246.857 [DAT](INFO): Rx dataTimestamp_ set to:1758399246.856842
2025-09-20T20:14:06.858Z,1758399246.858 [DAT](INFO): DAT read: Bearing 230.2, -7.4 (Local)
2025-09-20T20:14:06.859Z,1758399246.859 [DAT](INFO): Local bearing/azimuth received:
Bearing 230.2, -7.4 (Local)
2025-09-20T20:14:06.861Z,1758399246.861 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.0
2025-09-20T20:14:06.866Z,1758399246.866 [DAT](INFO): DAT read: 20:14:09.2065 LVL= 32752, 24817, 31218, 32755, AGC= 68, IDX= 513,-0.45, 1.883,-1.944, 2.809, 2.767, PHS=-0.781, 1.617,-0.001, RAW= 311.4, -7.9, CAL= 311.1, -11.6, ROT= 198.9, 11.6
2025-09-20T20:14:06.868Z,1758399246.868 [DAT](INFO): got valid direction response:
20:14:09.2065 LVL= 32752, 24817, 31218, 32755, AGC= 68, IDX= 513,-0.45, 1.883,-1.944, 2.809, 2.767, PHS=-0.781, 1.617,-0.001, RAW= 311.4, -7.9, CAL= 311.1, -11.6, ROT= 198.9, 11.6
2025-09-20T20:14:06.870Z,1758399246.870 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-09-20T20:14:06.875Z,1758399246.875 [DAT](INFO): direction in FSK: [-0.926762,-0.317301,-0.201078]
2025-09-20T20:14:06.875Z,1758399246.875 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:06.879Z,1758399246.879 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.437920
2025-09-20T20:14:07.043Z,1758399247.043 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:14:07.068Z,1758399247.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.600000 m,
deltaT: 0.500583 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:07.070Z,1758399247.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.488285 m,
bearing: 90.997204 deg,
lat: 36.779273 deg,
lon: -121.859579 deg,
deltaT: 0.500583 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:07.071Z,1758399247.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m.
2025-09-20T20:14:07.108Z,1758399247.108 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=47.667446
2025-09-20T20:14:07.361Z,1758399247.361 [DAT](INFO): DAT read: Rx Time:20:14:09.7065
2025-09-20T20:14:07.361Z,1758399247.361 [DAT](INFO): Rx dataTimestamp_ set to:1758399247.360737
2025-09-20T20:14:07.362Z,1758399247.362 [DAT](INFO): DAT read: Bearing 230.1, -0.6 (Local)
2025-09-20T20:14:07.363Z,1758399247.363 [DAT](INFO): Local bearing/azimuth received:
Bearing 230.1, -0.6 (Local)
2025-09-20T20:14:07.365Z,1758399247.365 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.3
2025-09-20T20:14:07.369Z,1758399247.369 [DAT](INFO): DAT read: 20:14:09.7065 LVL= 32752, 27617, 32210, 32755, AGC= 69, IDX= 513, 0.40,-2.869,-0.638,-2.264,-2.146, PHS=-0.621, 1.553,-0.162, RAW= 318.5, -7.8, CAL= 318.1, -11.2, ROT= 191.9, 11.2
2025-09-20T20:14:07.370Z,1758399247.370 [DAT](INFO): got valid direction response:
20:14:09.7065 LVL= 32752, 27617, 32210, 32755, AGC= 69, IDX= 513, 0.40,-2.869,-0.638,-2.264,-2.146, PHS=-0.621, 1.553,-0.162, RAW= 318.5, -7.8, CAL= 318.1, -11.2, ROT= 191.9, 11.2
2025-09-20T20:14:07.371Z,1758399247.371 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-09-20T20:14:07.372Z,1758399247.372 [DAT](INFO): direction in FSK: [-0.959873,-0.202277,-0.194234]
2025-09-20T20:14:07.372Z,1758399247.372 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:07.376Z,1758399247.376 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=47.935436
2025-09-20T20:14:07.537Z,1758399247.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.600000 m,
deltaT: 0.503895 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:07.539Z,1758399247.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.488119 m,
bearing: 84.238632 deg,
lat: 36.779273 deg,
lon: -121.859579 deg,
deltaT: 0.503895 s,
deltaX: -0.000166 m,
approachRate: -0.000329 m/s,
posRepo size: 4
2025-09-20T20:14:07.543Z,1758399247.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m.
2025-09-20T20:14:07.613Z,1758399247.613 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.172520
2025-09-20T20:14:07.865Z,1758399247.865 [DAT](INFO): DAT read: Rx Time:20:14:10.2065
2025-09-20T20:14:07.865Z,1758399247.865 [DAT](INFO): Rx dataTimestamp_ set to:1758399247.864825
2025-09-20T20:14:07.866Z,1758399247.866 [DAT](INFO): DAT read: Bearing 223.3, -19.3 (Local)
2025-09-20T20:14:07.867Z,1758399247.867 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.3, -19.3 (Local)
2025-09-20T20:14:07.869Z,1758399247.869 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed -0.3
2025-09-20T20:14:07.874Z,1758399247.874 [DAT](INFO): DAT read: 20:14:10.2065 LVL= 32752, 26481, 31538, 32755, AGC= 69, IDX= 513, 0.30, 3.067,-1.747,-2.369,-2.441, PHS=-0.673, 0.740, 0.029, RAW= 300.2, -1.6, CAL= 299.0, -5.7, ROT= 211.0, 5.7
2025-09-20T20:14:07.875Z,1758399247.875 [DAT](INFO): got valid direction response:
20:14:10.2065 LVL= 32752, 26481, 31538, 32755, AGC= 69, IDX= 513, 0.30, 3.067,-1.747,-2.369,-2.441, PHS=-0.673, 0.740, 0.029, RAW= 300.2, -1.6, CAL= 299.0, -5.7, ROT= 211.0, 5.7
2025-09-20T20:14:07.875Z,1758399247.875 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-09-20T20:14:07.876Z,1758399247.876 [DAT](INFO): direction in FSK: [-0.852929,-0.512491,-0.099320]
2025-09-20T20:14:07.876Z,1758399247.876 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:07.880Z,1758399247.880 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.439335
2025-09-20T20:14:08.042Z,1758399248.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.600000 m,
deltaT: 0.504088 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:08.050Z,1758399248.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.488119 m,
bearing: 103.806125 deg,
lat: 36.779273 deg,
lon: -121.859579 deg,
deltaT: 0.504088 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:08.051Z,1758399248.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m.
2025-09-20T20:14:08.117Z,1758399248.117 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=48.676170
2025-09-20T20:14:08.327Z,1758399248.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.49 m.
2025-09-20T20:14:08.370Z,1758399248.370 [DAT](INFO): DAT read: Rx Time:20:14:10.7067
2025-09-20T20:14:08.370Z,1758399248.370 [DAT](INFO): Rx dataTimestamp_ set to:1758399248.369736
2025-09-20T20:14:08.372Z,1758399248.372 [DAT](INFO): DAT read: Bearing 224.4, -0.3 (Local)
2025-09-20T20:14:08.373Z,1758399248.373 [DAT](INFO): Local bearing/azimuth received:
Bearing 224.4, -0.3 (Local)
2025-09-20T20:14:08.376Z,1758399248.376 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed -0.3
2025-09-20T20:14:08.386Z,1758399248.386 [DAT](INFO): DAT read: 20:14:10.7067 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 3, 0.19,-0.104, 2.048, 0.451, 0.740, PHS=-0.742, 1.354,-0.333, RAW= 319.4, -2.9, CAL= 318.3, -6.1, ROT= 191.7, 6.1
2025-09-20T20:14:08.387Z,1758399248.387 [DAT](INFO): got valid direction response:
20:14:10.7067 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 3, 0.19,-0.104, 2.048, 0.451, 0.740, PHS=-0.742, 1.354,-0.333, RAW= 319.4, -2.9, CAL= 318.3, -6.1, ROT= 191.7, 6.1
2025-09-20T20:14:08.395Z,1758399248.395 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-09-20T20:14:08.396Z,1758399248.396 [DAT](INFO): direction in FSK: [-0.973678,-0.201639,-0.106264]
2025-09-20T20:14:08.397Z,1758399248.397 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:08.416Z,1758399248.416 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=48.975430
2025-09-20T20:14:08.620Z,1758399248.620 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.179405
2025-09-20T20:14:08.709Z,1758399248.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 0.504911 s,
deltaX: 0.299999 m,
approachRate: 0.594163 m/s,
rangeRepo size: 4
2025-09-20T20:14:08.711Z,1758399248.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.786892 m,
bearing: 84.751042 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.504911 s,
deltaX: 0.298773 m,
approachRate: 0.591734 m/s,
posRepo size: 4
2025-09-20T20:14:08.712Z,1758399248.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m.
2025-09-20T20:14:08.878Z,1758399248.878 [DAT](INFO): DAT read: Rx Time:20:14:11.2067
2025-09-20T20:14:08.880Z,1758399248.880 [DAT](INFO): Rx dataTimestamp_ set to:1758399248.878173
2025-09-20T20:14:08.884Z,1758399248.884 [DAT](INFO): DAT read: Bearing 224.8, -0.5 (Local)
2025-09-20T20:14:08.884Z,1758399248.884 [DAT](INFO): Local bearing/azimuth received:
Bearing 224.8, -0.5 (Local)
2025-09-20T20:14:08.886Z,1758399248.886 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.0
2025-09-20T20:14:08.903Z,1758399248.903 [DAT](INFO): DAT read: 20:14:11.2067 LVL= 32752, 26241, 32754, 32755, AGC= 69, IDX= 499, 0.09,-1.008, 1.150,-0.449,-0.177, PHS=-0.729, 1.372,-0.316, RAW= 319.3, -3.4, CAL= 318.3, -6.6, ROT= 191.7, 6.6
2025-09-20T20:14:08.909Z,1758399248.909 [DAT](INFO): got valid direction response:
20:14:11.2067 LVL= 32752, 26241, 32754, 32755, AGC= 69, IDX= 499, 0.09,-1.008, 1.150,-0.449,-0.177, PHS=-0.729, 1.372,-0.316, RAW= 319.3, -3.4, CAL= 318.3, -6.6, ROT= 191.7, 6.6
2025-09-20T20:14:08.909Z,1758399248.909 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-09-20T20:14:08.910Z,1758399248.910 [DAT](INFO): direction in FSK: [-0.972733,-0.201443,-0.114937]
2025-09-20T20:14:08.910Z,1758399248.910 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:08.918Z,1758399248.918 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.477379
2025-09-20T20:14:09.124Z,1758399249.124 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.683586
2025-09-20T20:14:09.128Z,1758399249.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 0.508437 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:09.130Z,1758399249.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.786892 m,
bearing: 84.807088 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.508437 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:09.131Z,1758399249.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m.
2025-09-20T20:14:09.377Z,1758399249.377 [DAT](INFO): DAT read: Rx Time:20:14:11.7069
2025-09-20T20:14:09.377Z,1758399249.377 [DAT](INFO): Rx dataTimestamp_ set to:1758399249.376718
2025-09-20T20:14:09.378Z,1758399249.378 [DAT](INFO): DAT read: Bearing 223.4, -0.5 (Local)
2025-09-20T20:14:09.379Z,1758399249.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.4, -0.5 (Local)
2025-09-20T20:14:09.381Z,1758399249.381 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed -0.2
2025-09-20T20:14:09.386Z,1758399249.386 [DAT](INFO): DAT read: 20:14:11.7069 LVL= 32752, 30385, 32754, 32755, AGC= 68, IDX= 501, 0.01,-0.343, 1.788, 0.205, 0.515, PHS=-0.756, 1.318,-0.354, RAW= 319.5, -2.2, CAL= 318.2, -5.4, ROT= 191.8, 5.4
2025-09-20T20:14:09.387Z,1758399249.387 [DAT](INFO): got valid direction response:
20:14:11.7069 LVL= 32752, 30385, 32754, 32755, AGC= 68, IDX= 501, 0.01,-0.343, 1.788, 0.205, 0.515, PHS=-0.756, 1.318,-0.354, RAW= 319.5, -2.2, CAL= 318.2, -5.4, ROT= 191.8, 5.4
2025-09-20T20:14:09.387Z,1758399249.387 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-09-20T20:14:09.388Z,1758399249.388 [DAT](INFO): direction in FSK: [-0.974523,-0.203589,-0.094108]
2025-09-20T20:14:09.388Z,1758399249.388 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:09.400Z,1758399249.400 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=49.959614
2025-09-20T20:14:09.523Z,1758399249.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.200001 m,
deltaT: 0.498545 s,
deltaX: 0.300001 m,
approachRate: 0.601753 m/s,
rangeRepo size: 4
2025-09-20T20:14:09.525Z,1758399249.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.085449 m,
bearing: 85.108467 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.498545 s,
deltaX: 0.298557 m,
approachRate: 0.598857 m/s,
posRepo size: 4
2025-09-20T20:14:09.526Z,1758399249.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.09 m.
2025-09-20T20:14:09.628Z,1758399249.628 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.187546
2025-09-20T20:14:09.884Z,1758399249.884 [DAT](INFO): DAT read: Rx Time:20:14:12.2069
2025-09-20T20:14:09.884Z,1758399249.884 [DAT](INFO): Rx dataTimestamp_ set to:1758399249.883922
2025-09-20T20:14:09.885Z,1758399249.885 [DAT](INFO): DAT read: Bearing 224.2, -0.8 (Local)
2025-09-20T20:14:09.886Z,1758399249.886 [DAT](INFO): Local bearing/azimuth received:
Bearing 224.2, -0.8 (Local)
2025-09-20T20:14:09.888Z,1758399249.888 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed -0.1
2025-09-20T20:14:09.893Z,1758399249.893 [DAT](INFO): DAT read: 20:14:12.2069 LVL= 32752, 25969, 32754, 32755, AGC= 69, IDX= 501,-0.09,-2.374,-0.212,-1.813,-1.531, PHS=-0.741, 1.364,-0.327, RAW= 319.3, -3.1, CAL= 318.2, -6.3, ROT= 191.8, 6.3
2025-09-20T20:14:09.894Z,1758399249.894 [DAT](INFO): got valid direction response:
20:14:12.2069 LVL= 32752, 25969, 32754, 32755, AGC= 69, IDX= 501,-0.09,-2.374,-0.212,-1.813,-1.531, PHS=-0.741, 1.364,-0.327, RAW= 319.3, -3.1, CAL= 318.2, -6.3, ROT= 191.8, 6.3
2025-09-20T20:14:09.894Z,1758399249.894 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-09-20T20:14:09.895Z,1758399249.895 [DAT](INFO): direction in FSK: [-0.972956,-0.203261,-0.109734]
2025-09-20T20:14:09.896Z,1758399249.896 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:09.903Z,1758399249.903 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.462624
2025-09-20T20:14:10.038Z,1758399250.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.200001 m,
deltaT: 0.507204 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:10.044Z,1758399250.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.085449 m,
bearing: 85.058200 deg,
lat: 36.779272 deg,
lon: -121.859579 deg,
deltaT: 0.507204 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:10.045Z,1758399250.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.09 m.
2025-09-20T20:14:10.132Z,1758399250.132 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.691498
2025-09-20T20:14:10.338Z,1758399250.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.09 m.
2025-09-20T20:14:10.385Z,1758399250.385 [DAT](INFO): DAT read: Rx Time:20:14:12.7071
2025-09-20T20:14:10.386Z,1758399250.386 [DAT](INFO): Rx dataTimestamp_ set to:1758399250.385887
2025-09-20T20:14:10.388Z,1758399250.388 [DAT](INFO): DAT read: Bearing 223.7, -1.0 (Local)
2025-09-20T20:14:10.388Z,1758399250.388 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.7, -1.0 (Local)
2025-09-20T20:14:10.392Z,1758399250.392 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.3
2025-09-20T20:14:10.398Z,1758399250.398 [DAT](INFO): DAT read: 20:14:12.7071 LVL= 32752, 27953, 32738, 32755, AGC= 69, IDX= 503,-0.19,-1.343, 0.825,-0.777,-0.488, PHS=-0.753, 1.358,-0.333, RAW= 319.2, -2.8, CAL= 318.0, -6.0, ROT= 192.0, 6.0
2025-09-20T20:14:10.403Z,1758399250.403 [DAT](INFO): got valid direction response:
20:14:12.7071 LVL= 32752, 27953, 32738, 32755, AGC= 69, IDX= 503,-0.19,-1.343, 0.825,-0.777,-0.488, PHS=-0.753, 1.358,-0.333, RAW= 319.2, -2.8, CAL= 318.0, -6.0, ROT= 192.0, 6.0
2025-09-20T20:14:10.405Z,1758399250.405 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-09-20T20:14:10.406Z,1758399250.406 [DAT](INFO): direction in FSK: [-0.972789,-0.206773,-0.104528]
2025-09-20T20:14:10.406Z,1758399250.406 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:10.419Z,1758399250.419 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=50.969769
2025-09-20T20:14:10.636Z,1758399250.636 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.195435
2025-09-20T20:14:10.733Z,1758399250.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.501965 s,
deltaX: 0.299999 m,
approachRate: 0.597650 m/s,
rangeRepo size: 4
2025-09-20T20:14:10.735Z,1758399250.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.384098 m,
bearing: 85.293966 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.501965 s,
deltaX: 0.298649 m,
approachRate: 0.594959 m/s,
posRepo size: 4
2025-09-20T20:14:10.736Z,1758399250.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:14:10.893Z,1758399250.893 [DAT](INFO): DAT read: Rx Time:20:14:13.2071
2025-09-20T20:14:10.894Z,1758399250.894 [DAT](INFO): Rx dataTimestamp_ set to:1758399250.893503
2025-09-20T20:14:10.900Z,1758399250.900 [DAT](INFO): DAT read: Bearing 223.7, -1.3 (Local)
2025-09-20T20:14:10.901Z,1758399250.901 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.7, -1.3 (Local)
2025-09-20T20:14:10.917Z,1758399250.917 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.3
2025-09-20T20:14:10.932Z,1758399250.932 [DAT](INFO): DAT read: 20:14:13.2071 LVL= 32752, 27953, 30482, 32755, AGC= 69, IDX= 503,-0.36,-2.951,-0.805,-2.386,-2.108, PHS=-0.742, 1.347,-0.323, RAW= 319.1, -3.0, CAL= 317.9, -6.2, ROT= 192.1, 6.2
2025-09-20T20:14:10.933Z,1758399250.933 [DAT](INFO): got valid direction response:
20:14:13.2071 LVL= 32752, 27953, 30482, 32755, AGC= 69, IDX= 503,-0.36,-2.951,-0.805,-2.386,-2.108, PHS=-0.742, 1.347,-0.323, RAW= 319.1, -3.0, CAL= 317.9, -6.2, ROT= 192.1, 6.2
2025-09-20T20:14:10.933Z,1758399250.933 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-09-20T20:14:10.934Z,1758399250.934 [DAT](INFO): direction in FSK: [-0.972064,-0.208392,-0.107999]
2025-09-20T20:14:10.934Z,1758399250.934 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:10.945Z,1758399250.945 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.504745
2025-09-20T20:14:11.140Z,1758399251.140 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.699512
2025-09-20T20:14:11.161Z,1758399251.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.507616 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:11.163Z,1758399251.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.384098 m,
bearing: 85.335834 deg,
lat: 36.779271 deg,
lon: -121.859577 deg,
deltaT: 0.507616 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:11.163Z,1758399251.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:14:11.393Z,1758399251.393 [DAT](INFO): DAT read: Rx Time:20:14:13.7071
2025-09-20T20:14:11.393Z,1758399251.393 [DAT](INFO): Rx dataTimestamp_ set to:1758399251.392823
2025-09-20T20:14:11.394Z,1758399251.394 [DAT](INFO): DAT read: Bearing 223.1, -1.5 (Local)
2025-09-20T20:14:11.395Z,1758399251.395 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.1, -1.5 (Local)
2025-09-20T20:14:11.397Z,1758399251.397 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.0
2025-09-20T20:14:11.401Z,1758399251.401 [DAT](INFO): DAT read: 20:14:13.7071 LVL= 32752, 30625, 32754, 32755, AGC= 69, IDX= 503, 0.35,-0.802, 1.351,-0.233, 0.057, PHS=-0.757, 1.338,-0.334, RAW= 319.0, -2.6, CAL= 317.8, -5.8, ROT= 192.2, 5.8
2025-09-20T20:14:11.402Z,1758399251.402 [DAT](INFO): got valid direction response:
20:14:13.7071 LVL= 32752, 30625, 32754, 32755, AGC= 69, IDX= 503, 0.35,-0.802, 1.351,-0.233, 0.057, PHS=-0.757, 1.338,-0.334, RAW= 319.0, -2.6, CAL= 317.8, -5.8, ROT= 192.2, 5.8
2025-09-20T20:14:11.403Z,1758399251.403 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-09-20T20:14:11.404Z,1758399251.404 [DAT](INFO): direction in FSK: [-0.972412,-0.210243,-0.101056]
2025-09-20T20:14:11.404Z,1758399251.404 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:11.437Z,1758399251.437 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=51.996525
2025-09-20T20:14:11.548Z,1758399251.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.499320 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:11.550Z,1758399251.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.384016 m,
bearing: 85.478435 deg,
lat: 36.779271 deg,
lon: -121.859577 deg,
deltaT: 0.499320 s,
deltaX: -0.000082 m,
approachRate: -0.000164 m/s,
posRepo size: 4
2025-09-20T20:14:11.551Z,1758399251.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:14:11.644Z,1758399251.644 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.203629
2025-09-20T20:14:11.902Z,1758399251.902 [DAT](INFO): DAT read: Rx Time:20:14:14.2071
2025-09-20T20:14:11.903Z,1758399251.903 [DAT](INFO): Rx dataTimestamp_ set to:1758399251.902253
2025-09-20T20:14:11.927Z,1758399251.927 [DAT](INFO): DAT read: Bearing 223.5, -1.3 (Local)
2025-09-20T20:14:11.928Z,1758399251.928 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.5, -1.3 (Local)
2025-09-20T20:14:11.930Z,1758399251.930 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed -0.2
2025-09-20T20:14:11.934Z,1758399251.934 [DAT](INFO): DAT read: 20:14:14.2071 LVL= 32752, 28129, 32754, 32755, AGC= 68, IDX= 503, 0.15,-2.021, 0.132,-1.462,-1.180, PHS=-0.739, 1.357,-0.326, RAW= 319.3, -3.1, CAL= 318.2, -6.3, ROT= 191.8, 6.3
2025-09-20T20:14:11.967Z,1758399251.967 [DAT](INFO): got valid direction response:
20:14:14.2071 LVL= 32752, 28129, 32754, 32755, AGC= 68, IDX= 503, 0.15,-2.021, 0.132,-1.462,-1.180, PHS=-0.739, 1.357,-0.326, RAW= 319.3, -3.1, CAL= 318.2, -6.3, ROT= 191.8, 6.3
2025-09-20T20:14:11.968Z,1758399251.968 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-09-20T20:14:11.969Z,1758399251.969 [DAT](INFO): direction in FSK: [-0.972956,-0.203261,-0.109734]
2025-09-20T20:14:11.969Z,1758399251.969 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:11.981Z,1758399251.981 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.540127
2025-09-20T20:14:12.058Z,1758399252.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.509430 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:12.065Z,1758399252.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.384016 m,
bearing: 85.030253 deg,
lat: 36.779271 deg,
lon: -121.859578 deg,
deltaT: 0.509430 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:12.066Z,1758399252.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:14:12.148Z,1758399252.148 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.707600
2025-09-20T20:14:12.353Z,1758399252.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:14:12.401Z,1758399252.401 [DAT](INFO): DAT read: Rx Time:20:14:14.7073
2025-09-20T20:14:12.401Z,1758399252.401 [DAT](INFO): Rx dataTimestamp_ set to:1758399252.400848
2025-09-20T20:14:12.402Z,1758399252.402 [DAT](INFO): DAT read: Bearing 223.1, -1.5 (Local)
2025-09-20T20:14:12.403Z,1758399252.403 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.1, -1.5 (Local)
2025-09-20T20:14:12.405Z,1758399252.405 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed 0.0
2025-09-20T20:14:12.425Z,1758399252.425 [DAT](INFO): DAT read: 20:14:14.7073 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 505,-0.02,-1.645, 0.482,-1.088,-0.803, PHS=-0.740, 1.330,-0.329, RAW= 319.2, -2.8, CAL= 318.0, -6.0, ROT= 192.0, 6.0
2025-09-20T20:14:12.426Z,1758399252.426 [DAT](INFO): got valid direction response:
20:14:14.7073 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 505,-0.02,-1.645, 0.482,-1.088,-0.803, PHS=-0.740, 1.330,-0.329, RAW= 319.2, -2.8, CAL= 318.0, -6.0, ROT= 192.0, 6.0
2025-09-20T20:14:12.427Z,1758399252.427 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-09-20T20:14:12.433Z,1758399252.433 [DAT](INFO): direction in FSK: [-0.972789,-0.206773,-0.104528]
2025-09-20T20:14:12.434Z,1758399252.434 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:12.455Z,1758399252.455 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.002300
2025-09-20T20:14:12.652Z,1758399252.652 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.211426
2025-09-20T20:14:12.822Z,1758399252.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.799999 m,
deltaT: 0.498595 s,
deltaX: 0.299999 m,
approachRate: 0.601689 m/s,
rangeRepo size: 4
2025-09-20T20:14:12.829Z,1758399252.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.682743 m,
bearing: 85.316576 deg,
lat: 36.779271 deg,
lon: -121.859577 deg,
deltaT: 0.498595 s,
deltaX: 0.298727 m,
approachRate: 0.599138 m/s,
posRepo size: 4
2025-09-20T20:14:12.829Z,1758399252.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m.
2025-09-20T20:14:12.909Z,1758399252.909 [DAT](INFO): DAT read: Rx Time:20:14:15.2073
2025-09-20T20:14:12.910Z,1758399252.910 [DAT](INFO): Rx dataTimestamp_ set to:1758399252.909123
2025-09-20T20:14:12.915Z,1758399252.915 [DAT](INFO): DAT read: Bearing 223.5, -1.7 (Local)
2025-09-20T20:14:12.916Z,1758399252.916 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.5, -1.7 (Local)
2025-09-20T20:14:12.922Z,1758399252.922 [DAT](INFO): DAT read: Range 11 to 50 : 27.8 m (trip time 18.5 ms) speed -0.1
2025-09-20T20:14:12.972Z,1758399252.972 [DAT](INFO): DAT read: 20:14:15.2073 LVL= 32752, 25057, 31858, 32755, AGC= 69, IDX= 505,-0.17, 2.604,-1.504,-3.107,-2.833, PHS=-0.744, 1.374,-0.318, RAW= 319.0, -3.2, CAL= 318.0, -6.5, ROT= 192.0, 6.5
2025-09-20T20:14:12.973Z,1758399252.973 [DAT](INFO): got valid direction response:
20:14:15.2073 LVL= 32752, 25057, 31858, 32755, AGC= 69, IDX= 505,-0.17, 2.604,-1.504,-3.107,-2.833, PHS=-0.744, 1.374,-0.318, RAW= 319.0, -3.2, CAL= 318.0, -6.5, ROT= 192.0, 6.5
2025-09-20T20:14:12.973Z,1758399252.973 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-09-20T20:14:12.974Z,1758399252.974 [DAT](INFO): direction in FSK: [-0.971860,-0.206575,-0.113203]
2025-09-20T20:14:12.974Z,1758399252.974 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:13.009Z,1758399253.009 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.568127
2025-09-20T20:14:13.156Z,1758399253.156 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.715439
2025-09-20T20:14:13.204Z,1758399253.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.799999 m,
deltaT: 0.508275 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:13.206Z,1758399253.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.682743 m,
bearing: 85.300975 deg,
lat: 36.779271 deg,
lon: -121.859578 deg,
deltaT: 0.508275 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:13.206Z,1758399253.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.68 m.
2025-09-20T20:14:13.409Z,1758399253.409 [DAT](INFO): DAT read: Rx Time:20:14:15.7075
2025-09-20T20:14:13.410Z,1758399253.410 [DAT](INFO): Rx dataTimestamp_ set to:1758399253.409529
2025-09-20T20:14:13.419Z,1758399253.419 [DAT](INFO): DAT read: Bearing 222.3, -1.8 (Local)
2025-09-20T20:14:13.419Z,1758399253.419 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.3, -1.8 (Local)
2025-09-20T20:14:13.422Z,1758399253.422 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed -0.2
2025-09-20T20:14:13.428Z,1758399253.428 [DAT](INFO): DAT read: 20:14:15.7075 LVL= 32752, 28657, 32754, 32755, AGC= 69, IDX= 507,-0.38,-1.885, 0.264,-1.322,-1.016, PHS=-0.766, 1.325,-0.349, RAW= 319.1, -2.2, CAL= 317.9, -5.4, ROT= 192.1, 5.4
2025-09-20T20:14:13.429Z,1758399253.429 [DAT](INFO): got valid direction response:
20:14:15.7075 LVL= 32752, 28657, 32754, 32755, AGC= 69, IDX= 507,-0.38,-1.885, 0.264,-1.322,-1.016, PHS=-0.766, 1.325,-0.349, RAW= 319.1, -2.2, CAL= 317.9, -5.4, ROT= 192.1, 5.4
2025-09-20T20:14:13.429Z,1758399253.429 [DAT](INFO): #Rx 114: Read range and direction messages.
2025-09-20T20:14:13.430Z,1758399253.430 [DAT](INFO): direction in FSK: [-0.973444,-0.208688,-0.094108]
2025-09-20T20:14:13.430Z,1758399253.430 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:13.434Z,1758399253.434 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.993214
2025-09-20T20:14:13.581Z,1758399253.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.100000 m,
deltaT: 0.500406 s,
deltaX: 0.300001 m,
approachRate: 0.599515 m/s,
rangeRepo size: 4
2025-09-20T20:14:13.587Z,1758399253.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.981462 m,
bearing: 85.531716 deg,
lat: 36.779271 deg,
lon: -121.859578 deg,
deltaT: 0.500406 s,
deltaX: 0.298719 m,
approachRate: 0.596954 m/s,
posRepo size: 4
2025-09-20T20:14:13.587Z,1758399253.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-09-20T20:14:13.662Z,1758399253.662 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.221355
2025-09-20T20:14:13.916Z,1758399253.916 [DAT](INFO): DAT read: Rx Time:20:14:16.2074
2025-09-20T20:14:13.918Z,1758399253.918 [DAT](INFO): Rx dataTimestamp_ set to:1758399253.916791
2025-09-20T20:14:13.922Z,1758399253.922 [DAT](INFO): DAT read: Bearing 223.3, -1.7 (Local)
2025-09-20T20:14:13.923Z,1758399253.923 [DAT](INFO): Local bearing/azimuth received:
Bearing 223.3, -1.7 (Local)
2025-09-20T20:14:13.972Z,1758399253.972 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed -0.2
2025-09-20T20:14:13.980Z,1758399253.980 [DAT](INFO): DAT read: 20:14:16.2074 LVL= 32752, 26241, 30802, 32755, AGC= 69, IDX= 506, 0.36,-1.732, 0.411,-1.170,-0.899, PHS=-0.731, 1.355,-0.315, RAW= 319.1, -3.3, CAL= 318.1, -6.5, ROT= 191.9, 6.5
2025-09-20T20:14:13.982Z,1758399253.982 [DAT](INFO): got valid direction response:
20:14:16.2074 LVL= 32752, 26241, 30802, 32755, AGC= 69, IDX= 506, 0.36,-1.732, 0.411,-1.170,-0.899, PHS=-0.731, 1.355,-0.315, RAW= 319.1, -3.3, CAL= 318.1, -6.5, ROT= 191.9, 6.5
2025-09-20T20:14:13.982Z,1758399253.982 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-09-20T20:14:13.995Z,1758399253.995 [DAT](INFO): direction in FSK: [-0.972219,-0.204879,-0.113203]
2025-09-20T20:14:13.995Z,1758399253.995 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:14.023Z,1758399254.023 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.558182
2025-09-20T20:14:14.102Z,1758399254.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.900000 m,
deltaT: 0.507262 s,
deltaX: -0.200001 m,
approachRate: -0.394275 m/s,
rangeRepo size: 4
2025-09-20T20:14:14.109Z,1758399254.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.782305 m,
bearing: 85.241428 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.507262 s,
deltaX: -0.199158 m,
approachRate: -0.392613 m/s,
posRepo size: 4
2025-09-20T20:14:14.109Z,1758399254.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.78 m.
2025-09-20T20:14:14.165Z,1758399254.165 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.723999
2025-09-20T20:14:14.389Z,1758399254.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.78 m.
2025-09-20T20:14:14.420Z,1758399254.420 [DAT](INFO): DAT read: Rx Time:20:14:16.7076
2025-09-20T20:14:14.421Z,1758399254.421 [DAT](INFO): Rx dataTimestamp_ set to:1758399254.420380
2025-09-20T20:14:14.422Z,1758399254.422 [DAT](INFO): DAT read: Bearing 222.5, -1.8 (Local)
2025-09-20T20:14:14.422Z,1758399254.422 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.5, -1.8 (Local)
2025-09-20T20:14:14.425Z,1758399254.425 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.2
2025-09-20T20:14:14.429Z,1758399254.429 [DAT](INFO): DAT read: 20:14:16.7076 LVL= 32752, 28913, 31778, 32755, AGC= 68, IDX= 508, 0.21,-1.270, 0.855,-0.714,-0.426, PHS=-0.742, 1.327,-0.331, RAW= 319.2, -2.7, CAL= 318.0, -5.9, ROT= 192.0, 5.9
2025-09-20T20:14:14.430Z,1758399254.430 [DAT](INFO): got valid direction response:
20:14:16.7076 LVL= 32752, 28913, 31778, 32755, AGC= 68, IDX= 508, 0.21,-1.270, 0.855,-0.714,-0.426, PHS=-0.742, 1.327,-0.331, RAW= 319.2, -2.7, CAL= 318.0, -5.9, ROT= 192.0, 5.9
2025-09-20T20:14:14.430Z,1758399254.430 [DAT](INFO): #Rx 116: Read range and direction messages.
2025-09-20T20:14:14.436Z,1758399254.436 [DAT](INFO): direction in FSK: [-0.972966,-0.206810,-0.102793]
2025-09-20T20:14:14.436Z,1758399254.436 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:14.452Z,1758399254.452 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.010983
2025-09-20T20:14:14.668Z,1758399254.668 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.227364
2025-09-20T20:14:14.832Z,1758399254.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 0.503589 s,
deltaX: 0.300001 m,
approachRate: 0.595726 m/s,
rangeRepo size: 4
2025-09-20T20:14:14.834Z,1758399254.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.080999 m,
bearing: 85.450163 deg,
lat: 36.779271 deg,
lon: -121.859577 deg,
deltaT: 0.503589 s,
deltaX: 0.298695 m,
approachRate: 0.593132 m/s,
posRepo size: 4
2025-09-20T20:14:14.834Z,1758399254.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m.
2025-09-20T20:14:14.925Z,1758399254.925 [DAT](INFO): DAT read: Rx Time:20:14:17.2076
2025-09-20T20:14:14.929Z,1758399254.929 [DAT](INFO): Rx dataTimestamp_ set to:1758399254.925885
2025-09-20T20:14:14.934Z,1758399254.934 [DAT](INFO): DAT read: Bearing 222.7, -1.6 (Local)
2025-09-20T20:14:14.936Z,1758399254.936 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.7, -1.6 (Local)
2025-09-20T20:14:14.977Z,1758399254.977 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed -0.2
2025-09-20T20:14:14.982Z,1758399254.982 [DAT](INFO): DAT read: 20:14:17.2076 LVL= 32752, 28897, 32754, 32755, AGC= 67, IDX= 508, 0.07,-3.121,-0.987,-2.572,-2.284, PHS=-0.735, 1.342,-0.331, RAW= 319.5, -2.9, CAL= 318.3, -6.1, ROT= 191.7, 6.1
2025-09-20T20:14:14.988Z,1758399254.988 [DAT](INFO): got valid direction response:
20:14:17.2076 LVL= 32752, 28897, 32754, 32755, AGC= 67, IDX= 508, 0.07,-3.121,-0.987,-2.572,-2.284, PHS=-0.735, 1.342,-0.331, RAW= 319.5, -2.9, CAL= 318.3, -6.1, ROT= 191.7, 6.1
2025-09-20T20:14:14.988Z,1758399254.988 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-09-20T20:14:14.989Z,1758399254.989 [DAT](INFO): direction in FSK: [-0.973678,-0.201639,-0.106264]
2025-09-20T20:14:14.990Z,1758399254.990 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:14.997Z,1758399254.997 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.556774
2025-09-20T20:14:15.172Z,1758399255.172 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.731358
2025-09-20T20:14:15.313Z,1758399255.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 0.505505 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:15.319Z,1758399255.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.080999 m,
bearing: 85.154949 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.505505 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:15.319Z,1758399255.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m.
2025-09-20T20:14:15.425Z,1758399255.425 [DAT](INFO): DAT read: Rx Time:20:14:17.7077
2025-09-20T20:14:15.425Z,1758399255.425 [DAT](INFO): Rx dataTimestamp_ set to:1758399255.424784
2025-09-20T20:14:15.426Z,1758399255.426 [DAT](INFO): DAT read: Bearing 222.2, -1.7 (Local)
2025-09-20T20:14:15.427Z,1758399255.427 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.2, -1.7 (Local)
2025-09-20T20:14:15.429Z,1758399255.429 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed -0.2
2025-09-20T20:14:15.435Z,1758399255.435 [DAT](INFO): DAT read: 20:14:17.7077 LVL= 32752, 27985, 32754, 32755, AGC= 66, IDX= 509,-0.03, 1.977,-2.164, 2.526, 2.825, PHS=-0.747, 1.339,-0.343, RAW= 319.5, -2.6, CAL= 318.3, -5.8, ROT= 191.7, 5.8
2025-09-20T20:14:15.437Z,1758399255.437 [DAT](INFO): got valid direction response:
20:14:17.7077 LVL= 32752, 27985, 32754, 32755, AGC= 66, IDX= 509,-0.03, 1.977,-2.164, 2.526, 2.825, PHS=-0.747, 1.339,-0.343, RAW= 319.5, -2.6, CAL= 318.3, -5.8, ROT= 191.7, 5.8
2025-09-20T20:14:15.438Z,1758399255.438 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-09-20T20:14:15.439Z,1758399255.439 [DAT](INFO): direction in FSK: [-0.974210,-0.201749,-0.101056]
2025-09-20T20:14:15.440Z,1758399255.440 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:15.444Z,1758399255.444 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.003376
2025-09-20T20:14:15.622Z,1758399255.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 0.498899 s,
deltaX: 0.199999 m,
approachRate: 0.400880 m/s,
rangeRepo size: 4
2025-09-20T20:14:15.624Z,1758399255.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.280144 m,
bearing: 85.187133 deg,
lat: 36.779272 deg,
lon: -121.859577 deg,
deltaT: 0.498899 s,
deltaX: 0.199144 m,
approachRate: 0.399168 m/s,
posRepo size: 4
2025-09-20T20:14:15.625Z,1758399255.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m.
2025-09-20T20:14:15.677Z,1758399255.677 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.236256
2025-09-20T20:14:15.933Z,1758399255.933 [DAT](INFO): DAT read: Rx Time:20:14:18.2077
2025-09-20T20:14:15.934Z,1758399255.934 [DAT](INFO): Rx dataTimestamp_ set to:1758399255.933163
2025-09-20T20:14:15.938Z,1758399255.938 [DAT](INFO): DAT read: Bearing 221.9, -2.1 (Local)
2025-09-20T20:14:15.940Z,1758399255.940 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.9, -2.1 (Local)
2025-09-20T20:14:15.946Z,1758399255.946 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed -0.3
2025-09-20T20:14:15.982Z,1758399255.982 [DAT](INFO): DAT read: 20:14:18.2077 LVL= 32752, 32241, 31554, 32755, AGC= 69, IDX= 509,-0.13, 0.273, 2.435, 0.838, 1.138, PHS=-0.763, 1.343,-0.344, RAW= 319.2, -2.5, CAL= 318.0, -5.7, ROT= 192.0, 5.7
2025-09-20T20:14:16.007Z,1758399256.007 [DAT](INFO): got valid direction response:
20:14:18.2077 LVL= 32752, 32241, 31554, 32755, AGC= 69, IDX= 509,-0.13, 0.273, 2.435, 0.838, 1.138, PHS=-0.763, 1.343,-0.344, RAW= 319.2, -2.5, CAL= 318.0, -5.7, ROT= 192.0, 5.7
2025-09-20T20:14:16.008Z,1758399256.008 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-09-20T20:14:16.008Z,1758399256.008 [DAT](INFO): direction in FSK: [-0.973311,-0.206884,-0.099320]
2025-09-20T20:14:16.009Z,1758399256.009 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:16.022Z,1758399256.022 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.581894
2025-09-20T20:14:16.126Z,1758399256.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.400000 m,
deltaT: 0.508379 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:16.132Z,1758399256.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.280144 m,
bearing: 85.506257 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.508379 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:16.133Z,1758399256.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m.
2025-09-20T20:14:16.181Z,1758399256.181 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.739891
2025-09-20T20:14:16.433Z,1758399256.433 [DAT](INFO): DAT read: Rx Time:20:14:18.7079
2025-09-20T20:14:16.433Z,1758399256.433 [DAT](INFO): Rx dataTimestamp_ set to:1758399256.432863
2025-09-20T20:14:16.434Z,1758399256.434 [DAT](INFO): DAT read: Bearing 221.8, -2.4 (Local)
2025-09-20T20:14:16.435Z,1758399256.435 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.8, -2.4 (Local)
2025-09-20T20:14:16.437Z,1758399256.437 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed -0.3
2025-09-20T20:14:16.442Z,1758399256.442 [DAT](INFO): DAT read: 20:14:18.7079 LVL= 32752, 28081, 32754, 32755, AGC= 68, IDX= 511,-0.31, 1.071,-3.043, 1.647, 1.939, PHS=-0.766, 1.345,-0.336, RAW= 318.9, -2.5, CAL= 317.7, -5.7, ROT= 192.3, 5.7
2025-09-20T20:14:16.443Z,1758399256.443 [DAT](INFO): got valid direction response:
20:14:18.7079 LVL= 32752, 28081, 32754, 32755, AGC= 68, IDX= 511,-0.31, 1.071,-3.043, 1.647, 1.939, PHS=-0.766, 1.345,-0.336, RAW= 318.9, -2.5, CAL= 317.7, -5.7, ROT= 192.3, 5.7
2025-09-20T20:14:16.443Z,1758399256.443 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-09-20T20:14:16.444Z,1758399256.444 [DAT](INFO): direction in FSK: [-0.972215,-0.211977,-0.099320]
2025-09-20T20:14:16.444Z,1758399256.444 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:16.447Z,1758399256.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:14:16.450Z,1758399256.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.700001 m,
deltaT: 0.499700 s,
deltaX: 0.300001 m,
approachRate: 0.600362 m/s,
rangeRepo size: 4
2025-09-20T20:14:16.450Z,1758399256.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m.
2025-09-20T20:14:16.464Z,1758399256.464 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:14:16.464Z,1758399256.464 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:14:16.464Z,1758399256.464 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:16.684Z,1758399256.684 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:16.852Z,1758399256.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.28 m.
2025-09-20T20:14:16.942Z,1758399256.942 [DAT](INFO): DAT read: Rx Time:20:14:19.2078
2025-09-20T20:14:16.944Z,1758399256.944 [DAT](INFO): Rx dataTimestamp_ set to:1758399256.942586
2025-09-20T20:14:16.948Z,1758399256.948 [DAT](INFO): DAT read: Bearing 221.9, -1.7 (Local)
2025-09-20T20:14:16.949Z,1758399256.949 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.9, -1.7 (Local)
2025-09-20T20:14:16.956Z,1758399256.956 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed -0.2
2025-09-20T20:14:16.972Z,1758399256.972 [DAT](INFO): DAT read: 20:14:19.2078 LVL= 32752, 29297, 32754, 32755, AGC= 70, IDX= 510, 0.45, 1.611,-2.512, 2.160, 2.465, PHS=-0.752, 1.352,-0.348, RAW= 319.6, -2.6, CAL= 318.4, -5.8, ROT= 191.6, 5.8
2025-09-20T20:14:16.976Z,1758399256.976 [DAT](INFO): got valid direction response:
20:14:19.2078 LVL= 32752, 29297, 32754, 32755, AGC= 70, IDX= 510, 0.45, 1.611,-2.512, 2.160, 2.465, PHS=-0.752, 1.352,-0.348, RAW= 319.6, -2.6, CAL= 318.4, -5.8, ROT= 191.6, 5.8
2025-09-20T20:14:16.977Z,1758399256.977 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:16.981Z,1758399256.981 [DAT](INFO): direction in FSK: [-0.974561,-0.200049,-0.101056]
2025-09-20T20:14:16.982Z,1758399256.982 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:17.030Z,1758399257.030 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:17.031Z,1758399257.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:17.188Z,1758399257.188 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:17.297Z,1758399257.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.500000 m,
deltaT: 0.509723 s,
deltaX: -0.200001 m,
approachRate: -0.392371 m/s,
rangeRepo size: 4
2025-09-20T20:14:17.299Z,1758399257.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.379683 m,
bearing: 85.155917 deg,
lat: 36.779273 deg,
lon: -121.859578 deg,
deltaT: 1.009423 s,
deltaX: 0.099539 m,
approachRate: 0.098610 m/s,
posRepo size: 4
2025-09-20T20:14:17.300Z,1758399257.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-20T20:14:17.440Z,1758399257.440 [DAT](INFO): DAT read: Rx Time:20:14:19.7080
2025-09-20T20:14:17.441Z,1758399257.441 [DAT](INFO): Rx dataTimestamp_ set to:1758399257.440366
2025-09-20T20:14:17.442Z,1758399257.442 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.0
2025-09-20T20:14:17.442Z,1758399257.442 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:14:17.443Z,1758399257.443 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:17.443Z,1758399257.443 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:17.657Z,1758399257.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.497780 s,
deltaX: 0.299999 m,
approachRate: 0.602674 m/s,
rangeRepo size: 4
2025-09-20T20:14:17.657Z,1758399257.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-20T20:14:17.692Z,1758399257.692 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:17.949Z,1758399257.949 [DAT](INFO): DAT read: Rx Time:20:14:20.2080
2025-09-20T20:14:17.950Z,1758399257.950 [DAT](INFO): Rx dataTimestamp_ set to:1758399257.949084
2025-09-20T20:14:17.958Z,1758399257.958 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed -0.2
2025-09-20T20:14:17.970Z,1758399257.970 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:14:17.973Z,1758399257.973 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:17.974Z,1758399257.974 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:18.109Z,1758399258.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.508718 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:18.109Z,1758399258.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-20T20:14:18.198Z,1758399258.198 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:18.452Z,1758399258.452 [DAT](INFO): DAT read: Rx Time:20:14:20.7081
2025-09-20T20:14:18.453Z,1758399258.453 [DAT](INFO): Rx dataTimestamp_ set to:1758399258.452529
2025-09-20T20:14:18.454Z,1758399258.454 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed -0.1
2025-09-20T20:14:18.455Z,1758399258.455 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:14:18.455Z,1758399258.455 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:18.456Z,1758399258.456 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:18.469Z,1758399258.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.000000 m,
deltaT: 0.503445 s,
deltaX: 0.200001 m,
approachRate: 0.397264 m/s,
rangeRepo size: 4
2025-09-20T20:14:18.470Z,1758399258.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-20T20:14:18.704Z,1758399258.704 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:18.852Z,1758399258.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-20T20:14:18.957Z,1758399258.957 [DAT](INFO): DAT read: Rx Time:20:14:21.2081
2025-09-20T20:14:18.957Z,1758399258.957 [DAT](INFO): Rx dataTimestamp_ set to:1758399258.957056
2025-09-20T20:14:18.959Z,1758399258.959 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed -0.1
2025-09-20T20:14:18.959Z,1758399258.959 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:14:18.960Z,1758399258.960 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:18.960Z,1758399258.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:19.208Z,1758399259.208 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:19.337Z,1758399259.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.000000 m,
deltaT: 0.504527 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:19.338Z,1758399259.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.38 m.
2025-09-20T20:14:19.461Z,1758399259.461 [DAT](INFO): DAT read: Rx Time:20:14:21.7082
2025-09-20T20:14:19.461Z,1758399259.461 [DAT](INFO): Rx dataTimestamp_ set to:1758399259.460703
2025-09-20T20:14:19.462Z,1758399259.462 [DAT](INFO): DAT read: Bearing 221.7, -2.4 (Local)
2025-09-20T20:14:19.463Z,1758399259.463 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.7, -2.4 (Local)
2025-09-20T20:14:19.465Z,1758399259.465 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.2
2025-09-20T20:14:19.469Z,1758399259.469 [DAT](INFO): DAT read: 20:14:21.7082 LVL= 31216, 24865, 26610, 30643, AGC= 69, IDX= 2, 0.39,-2.992,-0.861,-2.429,-2.157, PHS=-0.733, 1.341,-0.316, RAW= 319.0, -3.1, CAL= 317.9, -6.3, ROT= 192.1, 6.3
2025-09-20T20:14:19.470Z,1758399259.470 [DAT](INFO): got valid direction response:
20:14:21.7082 LVL= 31216, 24865, 26610, 30643, AGC= 69, IDX= 2, 0.39,-2.992,-0.861,-2.429,-2.157, PHS=-0.733, 1.341,-0.316, RAW= 319.0, -3.1, CAL= 317.9, -6.3, ROT= 192.1, 6.3
2025-09-20T20:14:19.471Z,1758399259.471 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:19.472Z,1758399259.472 [DAT](INFO): direction in FSK: [-0.971878,-0.208353,-0.109734]
2025-09-20T20:14:19.472Z,1758399259.472 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:19.475Z,1758399259.475 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:19.475Z,1758399259.475 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:19.678Z,1758399259.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.100000 m,
deltaT: 0.503647 s,
deltaX: 0.100000 m,
approachRate: 0.198553 m/s,
rangeRepo size: 4
2025-09-20T20:14:19.680Z,1758399259.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.977037 m,
bearing: 85.805784 deg,
lat: 36.779272 deg,
lon: -121.859577 deg,
deltaT: 2.518117 s,
deltaX: 0.597355 m,
approachRate: 0.237223 m/s,
posRepo size: 4
2025-09-20T20:14:19.681Z,1758399259.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.98 m.
2025-09-20T20:14:19.713Z,1758399259.713 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:19.964Z,1758399259.964 [DAT](INFO): DAT read: Rx Time:20:14:22.2082
2025-09-20T20:14:19.966Z,1758399259.966 [DAT](INFO): Rx dataTimestamp_ set to:1758399259.965081
2025-09-20T20:14:19.970Z,1758399259.970 [DAT](INFO): DAT read: Bearing 222.0, -2.5 (Local)
2025-09-20T20:14:19.971Z,1758399259.971 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.0, -2.5 (Local)
2025-09-20T20:14:19.977Z,1758399259.977 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed -0.2
2025-09-20T20:14:20.010Z,1758399260.010 [DAT](INFO): DAT read: 20:14:22.2082 LVL= 32752, 24977, 32754, 32755, AGC= 68, IDX= 498, 0.13, 2.327,-1.828, 2.894,-3.134, PHS=-0.720, 1.351,-0.299, RAW= 318.9, -3.5, CAL= 317.9, -6.8, ROT= 192.1, 6.8
2025-09-20T20:14:20.044Z,1758399260.044 [DAT](INFO): got valid direction response:
20:14:22.2082 LVL= 32752, 24977, 32754, 32755, AGC= 68, IDX= 498, 0.13, 2.327,-1.828, 2.894,-3.134, PHS=-0.720, 1.351,-0.299, RAW= 318.9, -3.5, CAL= 317.9, -6.8, ROT= 192.1, 6.8
2025-09-20T20:14:20.044Z,1758399260.044 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:20.045Z,1758399260.045 [DAT](INFO): direction in FSK: [-0.970905,-0.208144,-0.118404]
2025-09-20T20:14:20.045Z,1758399260.045 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:20.061Z,1758399260.061 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:20.061Z,1758399260.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:20.188Z,1758399260.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.100000 m,
deltaT: 0.504378 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:20.190Z,1758399260.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.977037 m,
bearing: 85.750479 deg,
lat: 36.779272 deg,
lon: -121.859578 deg,
deltaT: 0.504378 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:14:20.190Z,1758399260.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.98 m.
2025-09-20T20:14:20.216Z,1758399260.216 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:20.469Z,1758399260.469 [DAT](INFO): DAT read: Rx Time:20:14:22.7083
2025-09-20T20:14:20.469Z,1758399260.469 [DAT](INFO): Rx dataTimestamp_ set to:1758399260.469016
2025-09-20T20:14:20.471Z,1758399260.471 [DAT](INFO): DAT read: Bearing 220.9, -2.5 (Local)
2025-09-20T20:14:20.471Z,1758399260.471 [DAT](INFO): Local bearing/azimuth received:
Bearing 220.9, -2.5 (Local)
2025-09-20T20:14:20.473Z,1758399260.473 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.0
2025-09-20T20:14:20.478Z,1758399260.478 [DAT](INFO): DAT read: 20:14:22.7083 LVL= 32752, 30577, 32754, 32755, AGC= 69, IDX= 500,-0.05, 1.918,-2.226, 2.486, 2.771, PHS=-0.751, 1.331,-0.330, RAW= 319.0, -2.7, CAL= 317.8, -5.8, ROT= 192.2, 5.8
2025-09-20T20:14:20.479Z,1758399260.479 [DAT](INFO): got valid direction response:
20:14:22.7083 LVL= 32752, 30577, 32754, 32755, AGC= 69, IDX= 500,-0.05, 1.918,-2.226, 2.486, 2.771, PHS=-0.751, 1.331,-0.330, RAW= 319.0, -2.7, CAL= 317.8, -5.8, ROT= 192.2, 5.8
2025-09-20T20:14:20.479Z,1758399260.479 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:20.480Z,1758399260.480 [DAT](INFO): direction in FSK: [-0.972412,-0.210243,-0.101056]
2025-09-20T20:14:20.480Z,1758399260.480 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:20.488Z,1758399260.488 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:20.488Z,1758399260.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:20.579Z,1758399260.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.400000 m,
deltaT: 0.503935 s,
deltaX: 0.299999 m,
approachRate: 0.595313 m/s,
rangeRepo size: 4
2025-09-20T20:14:20.582Z,1758399260.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.275784 m,
bearing: 86.045563 deg,
lat: 36.779272 deg,
lon: -121.859577 deg,
deltaT: 0.503935 s,
deltaX: 0.298746 m,
approachRate: 0.592827 m/s,
posRepo size: 4
2025-09-20T20:14:20.582Z,1758399260.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.28 m.
2025-09-20T20:14:20.720Z,1758399260.720 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:20.891Z,1758399260.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.28 m.
2025-09-20T20:14:20.974Z,1758399260.974 [DAT](INFO): DAT read: Rx Time:20:14:23.2083
2025-09-20T20:14:20.974Z,1758399260.974 [DAT](INFO): Rx dataTimestamp_ set to:1758399260.974111
2025-09-20T20:14:20.976Z,1758399260.976 [DAT](INFO): DAT read: Bearing 220.8, -2.4 (Local)
2025-09-20T20:14:20.976Z,1758399260.976 [DAT](INFO): Local bearing/azimuth received:
Bearing 220.8, -2.4 (Local)
2025-09-20T20:14:20.978Z,1758399260.978 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.0
2025-09-20T20:14:20.987Z,1758399260.987 [DAT](INFO): DAT read: 20:14:23.2083 LVL= 32752, 27633, 32754, 32755, AGC= 70, IDX= 500,-0.26, 0.313, 2.491, 0.887, 1.180, PHS=-0.765, 1.356,-0.337, RAW= 319.0, -2.6, CAL= 317.8, -5.8, ROT= 192.2, 5.8
2025-09-20T20:14:20.988Z,1758399260.988 [DAT](INFO): got valid direction response:
20:14:23.2083 LVL= 32752, 27633, 32754, 32755, AGC= 70, IDX= 500,-0.26, 0.313, 2.491, 0.887, 1.180, PHS=-0.765, 1.356,-0.337, RAW= 319.0, -2.6, CAL= 317.8, -5.8, ROT= 192.2, 5.8
2025-09-20T20:14:20.988Z,1758399260.988 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:20.989Z,1758399260.989 [DAT](INFO): direction in FSK: [-0.972412,-0.210243,-0.101056]
2025-09-20T20:14:20.989Z,1758399260.989 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:21.013Z,1758399261.013 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:21.014Z,1758399261.014 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:21.227Z,1758399261.227 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:21.369Z,1758399261.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.400000 m,
deltaT: 0.505095 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:14:21.372Z,1758399261.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.275778 m,
bearing: 86.158235 deg,
lat: 36.779272 deg,
lon: -121.859577 deg,
deltaT: 0.505095 s,
deltaX: -0.000006 m,
approachRate: -0.000011 m/s,
posRepo size: 4
2025-09-20T20:14:21.372Z,1758399261.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.28 m.
2025-09-20T20:14:21.478Z,1758399261.478 [DAT](INFO): DAT read: Rx Time:20:14:23.7084
2025-09-20T20:14:21.478Z,1758399261.478 [DAT](INFO): Rx dataTimestamp_ set to:1758399261.478060
2025-09-20T20:14:21.480Z,1758399261.480 [DAT](INFO): DAT read: Bearing 221.6, -2.4 (Local)
2025-09-20T20:14:21.480Z,1758399261.480 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.6, -2.4 (Local)
2025-09-20T20:14:21.482Z,1758399261.482 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.0
2025-09-20T20:14:21.487Z,1758399261.487 [DAT](INFO): DAT read: 20:14:23.7084 LVL= 32752, 26097, 32754, 32755, AGC= 68, IDX= 501, 0.34, 2.980,-1.163,-2.734,-2.474, PHS=-0.727, 1.356,-0.304, RAW= 318.9, -3.4, CAL= 317.9, -6.7, ROT= 192.1, 6.7
2025-09-20T20:14:21.489Z,1758399261.489 [DAT](INFO): got valid direction response:
20:14:23.7084 LVL= 32752, 26097, 32754, 32755, AGC= 68, IDX= 501, 0.34, 2.980,-1.163,-2.734,-2.474, PHS=-0.727, 1.356,-0.304, RAW= 318.9, -3.4, CAL= 317.9, -6.7, ROT= 192.1, 6.7
2025-09-20T20:14:21.489Z,1758399261.489 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:21.491Z,1758399261.491 [DAT](INFO): direction in FSK: [-0.971106,-0.208187,-0.116671]
2025-09-20T20:14:21.491Z,1758399261.491 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:21.497Z,1758399261.497 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:21.497Z,1758399261.497 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:14:21.704Z,1758399261.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.600000 m,
deltaT: 0.503949 s,
deltaX: 0.200001 m,
approachRate: 0.396867 m/s,
rangeRepo size: 4
2025-09-20T20:14:21.706Z,1758399261.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.474934 m,
bearing: 85.988350 deg,
lat: 36.779272 deg,
lon: -121.859577 deg,
deltaT: 0.503949 s,
deltaX: 0.199156 m,
approachRate: 0.395190 m/s,
posRepo size: 4
2025-09-20T20:14:21.706Z,1758399261.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:21.728Z,1758399261.728 [DAT](INFO): DAT read: user:175>
2025-09-20T20:14:21.728Z,1758399261.728 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:14:21.980Z,1758399261.980 [DAT](INFO): DAT read: 0
2025-09-20T20:14:21.982Z,1758399261.982 [DAT](INFO): unknown deviceResponse_: 0
2025-09-20T20:14:21.983Z,1758399261.983 [DAT](INFO): DAT read: Ok
2025-09-20T20:14:21.984Z,1758399261.984 [DAT](INFO): unknown deviceResponse_: Ok
2025-09-20T20:14:21.985Z,1758399261.985 [DAT](INFO): DAT read: user:176>
2025-09-20T20:14:21.986Z,1758399261.986 [DAT](INFO): DAT read: Tx time:20:14:24.7019
2025-09-20T20:14:21.986Z,1758399261.986 [DAT](INFO): Ping request sent.
2025-09-20T20:14:21.986Z,1758399261.986 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:14:21.986Z,1758399261.986 [DAT](INFO): publishing transmit ping time
2025-09-20T20:14:21.987Z,1758399261.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000829
2025-09-20T20:14:22.179Z,1758399262.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:22.234Z,1758399262.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247214
2025-09-20T20:14:22.484Z,1758399262.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497774
2025-09-20T20:14:22.524Z,1758399262.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:22.737Z,1758399262.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750847
2025-09-20T20:14:22.915Z,1758399262.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:22.988Z,1758399262.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002000
2025-09-20T20:14:23.241Z,1758399263.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254511
2025-09-20T20:14:23.342Z,1758399263.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:23.492Z,1758399263.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505783
2025-09-20T20:14:23.724Z,1758399263.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:23.745Z,1758399263.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758214
2025-09-20T20:14:23.996Z,1758399263.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009787
2025-09-20T20:14:24.177Z,1758399264.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:24.249Z,1758399264.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262787
2025-09-20T20:14:24.500Z,1758399264.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513697
2025-09-20T20:14:24.542Z,1758399264.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:24.753Z,1758399264.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766324
2025-09-20T20:14:24.956Z,1758399264.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:25.005Z,1758399265.005 [DAT](INFO): DAT read: Rx Time:20:14:27.1463
2025-09-20T20:14:25.006Z,1758399265.006 [DAT](INFO): Rx dataTimestamp_ set to:1758399265.004965
2025-09-20T20:14:25.006Z,1758399265.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019820
2025-09-20T20:14:25.257Z,1758399265.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270749
2025-09-20T20:14:25.448Z,1758399265.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:14:25.517Z,1758399265.517 [DAT](INFO): DAT read: 20:14:27.1463 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 90, 0.14, 2.315,-1.836, 2.887, 3.134, PHS=-0.717, 1.358,-0.291, RAW= 318.8, -3.7, CAL= 317.8, -7.0, ROT= 192.2, 7.0
2025-09-20T20:14:25.518Z,1758399265.518 [DAT](INFO): got valid direction response:
20:14:27.1463 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 90, 0.14, 2.315,-1.836, 2.887, 3.134, PHS=-0.717, 1.358,-0.291, RAW= 318.8, -3.7, CAL= 317.8, -7.0, ROT= 192.2, 7.0
2025-09-20T20:14:25.524Z,1758399265.524 [DAT](INFO): DAT read: Bearing 221.3, -2.2 (Local)
2025-09-20T20:14:25.525Z,1758399265.525 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.3, -2.2 (Local)
2025-09-20T20:14:25.526Z,1758399265.526 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (Round-trip 40.4 ms) speed -0.1 m/s
2025-09-20T20:14:25.527Z,1758399265.527 [DAT](INFO): DAT read: user:177>
2025-09-20T20:14:25.528Z,1758399265.528 [DAT](INFO): DAT read: Tx time:20:14:28.2518
2025-09-20T20:14:25.528Z,1758399265.528 [DAT](INFO): Ping request sent.
2025-09-20T20:14:25.528Z,1758399265.528 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:14:25.528Z,1758399265.528 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:14:25.529Z,1758399265.529 [DAT](INFO): direction in FSK: [-0.970130,-0.209749,-0.121869]
2025-09-20T20:14:25.529Z,1758399265.529 [DAT](INFO): publishing transmit ping time
2025-09-20T20:14:25.530Z,1758399265.530 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:25.562Z,1758399265.562 [DAT](INFO): publishing transmit ping time
2025-09-20T20:14:25.562Z,1758399265.562 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:25.806Z,1758399265.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.299999 m,
deltaT: 4.030286 s,
deltaX: 0.699999 m,
approachRate: 0.173685 m/s,
rangeRepo size: 4
2025-09-20T20:14:25.812Z,1758399265.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.172014 m,
bearing: 86.298434 deg,
lat: 36.779272 deg,
lon: -121.859575 deg,
deltaT: 4.030286 s,
deltaX: 0.697081 m,
approachRate: 0.172961 m/s,
posRepo size: 4
2025-09-20T20:14:25.813Z,1758399265.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:26.196Z,1758399266.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:26.558Z,1758399266.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:26.966Z,1758399266.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:27.394Z,1758399267.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:27.800Z,1758399267.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:28.225Z,1758399268.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:28.532Z,1758399268.532 [DAT](INFO): DAT read: Rx Time:20:14:30.6972
2025-09-20T20:14:28.533Z,1758399268.533 [DAT](INFO): Rx dataTimestamp_ set to:1758399268.532323
2025-09-20T20:14:28.597Z,1758399268.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:29.003Z,1758399269.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.17 m.
2025-09-20T20:14:29.065Z,1758399269.065 [DAT](INFO): DAT read: 20:14:30.6972 LVL= 32160, 29425, 32754, 28867, AGC= 64, IDX= 435,-0.44,-2.343,-0.156,-1.747,-1.562, PHS=-0.679, 1.451,-0.228, RAW= 318.4, -5.7, CAL= 317.7, -9.0, ROT= 192.3, 9.0
2025-09-20T20:14:29.066Z,1758399269.066 [DAT](INFO): got valid direction response:
20:14:30.6972 LVL= 32160, 29425, 32754, 28867, AGC= 64, IDX= 435,-0.44,-2.343,-0.156,-1.747,-1.562, PHS=-0.679, 1.451,-0.228, RAW= 318.4, -5.7, CAL= 317.7, -9.0, ROT= 192.3, 9.0
2025-09-20T20:14:29.067Z,1758399269.067 [DAT](INFO): DAT read: Bearing 222.6, -2.0 (Local)
2025-09-20T20:14:29.068Z,1758399269.068 [DAT](INFO): Local bearing/azimuth received:
Bearing 222.6, -2.0 (Local)
2025-09-20T20:14:29.069Z,1758399269.069 [DAT](INFO): DAT read: Range 11 to 50 : 30.9 m (Round-trip 41.3 ms) speed -0.3 m/s
2025-09-20T20:14:29.070Z,1758399269.070 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T20:14:29.070Z,1758399269.070 [DAT](INFO): direction in FSK: [-0.965017,-0.210408,-0.156434]
2025-09-20T20:14:29.071Z,1758399269.071 [DAT](INFO): publishing direction and range info
2025-09-20T20:14:29.438Z,1758399269.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.900000 m,
deltaT: 3.528999 s,
deltaX: 0.600000 m,
approachRate: 0.170020 m/s,
rangeRepo size: 4
2025-09-20T20:14:29.441Z,1758399269.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.770079 m,
bearing: 86.161269 deg,
lat: 36.779272 deg,
lon: -121.859575 deg,
deltaT: 3.528999 s,
deltaX: 0.598064 m,
approachRate: 0.169471 m/s,
posRepo size: 4
2025-09-20T20:14:29.441Z,1758399269.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:29.817Z,1758399269.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:30.254Z,1758399270.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:30.615Z,1758399270.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:31.007Z,1758399271.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:31.431Z,1758399271.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:31.837Z,1758399271.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:32.281Z,1758399272.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:32.621Z,1758399272.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:33.047Z,1758399273.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:33.460Z,1758399273.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:33.835Z,1758399273.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:34.296Z,1758399274.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:34.654Z,1758399274.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:35.039Z,1758399275.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:35.496Z,1758399275.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:35.855Z,1758399275.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:36.327Z,1758399276.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:36.686Z,1758399276.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:37.075Z,1758399277.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:37.164Z,1758399277.164 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:14:37.528Z,1758399277.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:37.903Z,1758399277.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:38.167Z,1758399278.167 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:14:38.362Z,1758399278.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:38.692Z,1758399278.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:39.097Z,1758399279.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:39.523Z,1758399279.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:39.927Z,1758399279.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:40.373Z,1758399280.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:40.811Z,1758399280.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:41.206Z,1758399281.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:41.624Z,1758399281.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:42.004Z,1758399282.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:42.431Z,1758399282.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:42.828Z,1758399282.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:43.238Z,1758399283.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:43.630Z,1758399283.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:44.022Z,1758399284.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:44.465Z,1758399284.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:44.829Z,1758399284.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:45.240Z,1758399285.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:45.660Z,1758399285.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:46.061Z,1758399286.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:46.489Z,1758399286.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:46.860Z,1758399286.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:47.258Z,1758399287.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:47.690Z,1758399287.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:48.070Z,1758399288.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:48.532Z,1758399288.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:48.895Z,1758399288.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:49.278Z,1758399289.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:49.766Z,1758399289.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:50.089Z,1758399290.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:50.533Z,1758399290.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:50.892Z,1758399290.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:51.296Z,1758399291.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:51.736Z,1758399291.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:52.103Z,1758399292.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:52.576Z,1758399292.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:52.961Z,1758399292.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:53.351Z,1758399293.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:53.782Z,1758399293.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:54.166Z,1758399294.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:54.610Z,1758399294.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:54.963Z,1758399294.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:55.370Z,1758399295.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:55.837Z,1758399295.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:56.215Z,1758399296.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:56.627Z,1758399296.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:56.985Z,1758399296.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:57.400Z,1758399297.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:57.839Z,1758399297.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:58.210Z,1758399298.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:58.655Z,1758399298.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:59.021Z,1758399299.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:59.411Z,1758399299.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:14:59.861Z,1758399299.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:00.244Z,1758399300.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:00.699Z,1758399300.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:01.054Z,1758399301.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:01.474Z,1758399301.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:01.895Z,1758399301.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:02.263Z,1758399302.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:02.729Z,1758399302.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:03.092Z,1758399303.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:03.497Z,1758399303.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:03.968Z,1758399303.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:04.332Z,1758399304.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:04.758Z,1758399304.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:05.217Z,1758399305.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:05.602Z,1758399305.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:06.053Z,1758399306.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:06.414Z,1758399306.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:06.837Z,1758399306.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:07.213Z,1758399307.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:07.626Z,1758399307.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:08.097Z,1758399308.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:08.287Z,1758399308.287 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:15:08.427Z,1758399308.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:08.872Z,1758399308.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:09.247Z,1758399309.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:09.291Z,1758399309.291 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:15:09.660Z,1758399309.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:10.076Z,1758399310.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:10.448Z,1758399310.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:10.872Z,1758399310.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:11.317Z,1758399311.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:11.708Z,1758399311.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:12.198Z,1758399312.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:12.567Z,1758399312.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:12.989Z,1758399312.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:13.357Z,1758399313.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:13.788Z,1758399313.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:14.201Z,1758399314.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:14.591Z,1758399314.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:15.046Z,1758399315.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:15.404Z,1758399315.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:15.873Z,1758399315.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:16.240Z,1758399316.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:16.656Z,1758399316.656 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:15:16.660Z,1758399316.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:16.696Z,1758399316.696 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:15:16.696Z,1758399316.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:15:16.948Z,1758399316.948 [DAT](INFO): DAT read: user:178>
2025-09-20T20:15:16.949Z,1758399316.949 [DAT](INFO): DAT read: Tx time:20:15:19.6017
2025-09-20T20:15:16.949Z,1758399316.949 [DAT](INFO): Ping request sent.
2025-09-20T20:15:16.949Z,1758399316.949 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:15:16.949Z,1758399316.949 [DAT](INFO): publishing transmit ping time
2025-09-20T20:15:16.950Z,1758399316.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728
2025-09-20T20:15:17.118Z,1758399317.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:17.201Z,1758399317.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251344
2025-09-20T20:15:17.452Z,1758399317.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502732
2025-09-20T20:15:17.453Z,1758399317.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:17.704Z,1758399317.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754732
2025-09-20T20:15:17.911Z,1758399317.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:17.957Z,1758399317.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007601
2025-09-20T20:15:18.208Z,1758399318.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258566
2025-09-20T20:15:18.344Z,1758399318.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:18.460Z,1758399318.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510631
2025-09-20T20:15:18.712Z,1758399318.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762787
2025-09-20T20:15:18.751Z,1758399318.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:18.965Z,1758399318.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015841
2025-09-20T20:15:19.176Z,1758399319.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:19.217Z,1758399319.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267475
2025-09-20T20:15:19.468Z,1758399319.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518656
2025-09-20T20:15:19.540Z,1758399319.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:19.720Z,1758399319.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770570
2025-09-20T20:15:19.972Z,1758399319.972 [DAT](INFO): DAT read: Rx Time:20:15:22.0546
2025-09-20T20:15:19.973Z,1758399319.973 [DAT](INFO): Rx dataTimestamp_ set to:1758399319.972563
2025-09-20T20:15:19.973Z,1758399319.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024077
2025-09-20T20:15:19.979Z,1758399319.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:20.224Z,1758399320.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781
2025-09-20T20:15:20.375Z,1758399320.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.77 m.
2025-09-20T20:15:20.482Z,1758399320.482 [DAT](INFO): DAT read: 20:15:22.0546 LVL= 32752, 18353, 22450, 32755, AGC= 60, IDX= 497,-0.06, 1.575,-2.536, 2.793, 2.767, PHS=-1.090, 1.025,-0.018, RAW= 299.6, 0.9, CAL= 297.9, -3.2, ROT= 212.1, 3.2
2025-09-20T20:15:20.483Z,1758399320.483 [DAT](INFO): got valid direction response:
20:15:22.0546 LVL= 32752, 18353, 22450, 32755, AGC= 60, IDX= 497,-0.06, 1.575,-2.536, 2.793, 2.767, PHS=-1.090, 1.025,-0.018, RAW= 299.6, 0.9, CAL= 297.9, -3.2, ROT= 212.1, 3.2
2025-09-20T20:15:20.485Z,1758399320.485 [DAT](INFO): DAT read: Bearing 190.8, -23.9 (Local)
2025-09-20T20:15:20.485Z,1758399320.485 [DAT](INFO): Local bearing/azimuth received:
Bearing 190.8, -23.9 (Local)
2025-09-20T20:15:20.490Z,1758399320.490 [DAT](INFO): DAT read: Range 11 to 50 : 36.6 m (Round-trip 48.9 ms) speed 0.0 m/s
2025-09-20T20:15:20.492Z,1758399320.492 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:15:20.493Z,1758399320.493 [DAT](INFO): direction in FSK: [-0.845801,-0.530570,-0.055822]
2025-09-20T20:15:20.494Z,1758399320.494 [DAT](INFO): publishing direction and range info
2025-09-20T20:15:20.756Z,1758399320.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 36.599998 m,
deltaT: 51.438116 s,
deltaX: 5.699999 m,
approachRate: 0.110813 m/s,
rangeRepo size: 4
2025-09-20T20:15:20.758Z,1758399320.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.445164 m,
bearing: 89.068996 deg,
lat: 36.779272 deg,
lon: -121.859575 deg,
deltaT: 51.438116 s,
deltaX: 5.675085 m,
approachRate: 0.110328 m/s,
posRepo size: 4
2025-09-20T20:15:20.759Z,1758399320.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:21.188Z,1758399321.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:21.557Z,1758399321.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:22.020Z,1758399322.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:22.364Z,1758399322.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:22.803Z,1758399322.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:23.216Z,1758399323.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:23.606Z,1758399323.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:24.062Z,1758399324.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:24.432Z,1758399324.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:24.848Z,1758399324.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:25.274Z,1758399325.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:25.673Z,1758399325.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:26.077Z,1758399326.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:26.452Z,1758399326.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:27.024Z,1758399327.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:27.436Z,1758399327.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:27.853Z,1758399327.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:28.274Z,1758399328.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:28.688Z,1758399328.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:29.097Z,1758399329.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:29.467Z,1758399329.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:29.879Z,1758399329.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:30.298Z,1758399330.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:30.700Z,1758399330.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:31.143Z,1758399331.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:31.488Z,1758399331.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:31.900Z,1758399331.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:32.338Z,1758399332.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:32.756Z,1758399332.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:33.146Z,1758399333.146 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032800031895,35.0, +1.0,1495.:RA, 0.00, 73.81, 71.08, 80.95
2025-09-20T20:15:33.162Z,1758399333.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:33.562Z,1758399333.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:33.955Z,1758399333.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:34.375Z,1758399334.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:34.784Z,1758399334.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:35.193Z,1758399335.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:35.568Z,1758399335.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:35.973Z,1758399335.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:36.410Z,1758399336.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:36.830Z,1758399336.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:37.299Z,1758399337.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:37.709Z,1758399337.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:38.183Z,1758399338.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:38.647Z,1758399338.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:39.029Z,1758399339.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:39.411Z,1758399339.411 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:15:39.483Z,1758399339.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:39.853Z,1758399339.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:40.301Z,1758399340.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:40.415Z,1758399340.415 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:15:40.712Z,1758399340.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:41.136Z,1758399341.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:41.530Z,1758399341.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:41.923Z,1758399341.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:42.352Z,1758399342.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:42.754Z,1758399342.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:43.166Z,1758399343.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:43.616Z,1758399343.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:44.019Z,1758399344.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:44.439Z,1758399344.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:44.841Z,1758399344.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:45.263Z,1758399345.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:45.704Z,1758399345.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:46.119Z,1758399346.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:46.531Z,1758399346.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:46.927Z,1758399346.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:47.397Z,1758399347.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:47.808Z,1758399347.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:48.197Z,1758399348.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:48.645Z,1758399348.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:49.077Z,1758399349.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:49.541Z,1758399349.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:49.973Z,1758399349.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:50.490Z,1758399350.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:50.862Z,1758399350.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:51.263Z,1758399351.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:51.697Z,1758399351.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:52.110Z,1758399352.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:52.537Z,1758399352.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:52.938Z,1758399352.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:53.339Z,1758399353.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:53.769Z,1758399353.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:54.139Z,1758399354.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:54.582Z,1758399354.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:54.982Z,1758399354.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:55.448Z,1758399355.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:55.819Z,1758399355.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:56.223Z,1758399356.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:56.644Z,1758399356.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:57.058Z,1758399357.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:57.509Z,1758399357.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:57.928Z,1758399357.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:58.332Z,1758399358.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:58.760Z,1758399358.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:59.153Z,1758399359.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:15:59.594Z,1758399359.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:00.029Z,1758399360.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:00.535Z,1758399360.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:00.995Z,1758399360.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:01.404Z,1758399361.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:01.834Z,1758399361.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:02.199Z,1758399362.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:02.644Z,1758399362.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:03.061Z,1758399363.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:03.571Z,1758399363.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:03.990Z,1758399363.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:04.395Z,1758399364.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:04.853Z,1758399364.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:05.191Z,1758399365.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:05.638Z,1758399365.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:06.018Z,1758399366.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:06.430Z,1758399366.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:06.859Z,1758399366.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:07.251Z,1758399367.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:07.674Z,1758399367.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:08.104Z,1758399368.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:08.516Z,1758399368.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:08.969Z,1758399368.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:09.385Z,1758399369.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:09.821Z,1758399369.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:10.228Z,1758399370.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:10.549Z,1758399370.549 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:16:10.700Z,1758399370.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:11.129Z,1758399371.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:11.548Z,1758399371.548 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:16:11.570Z,1758399371.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:11.958Z,1758399371.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:12.356Z,1758399372.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:12.800Z,1758399372.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:13.197Z,1758399373.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:13.610Z,1758399373.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:14.054Z,1758399374.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:14.457Z,1758399374.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:14.886Z,1758399374.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:15.285Z,1758399375.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:15.767Z,1758399375.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:16.196Z,1758399376.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:16.641Z,1758399376.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:17.114Z,1758399377.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:16:17.120Z,1758399377.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:17.200Z,1758399377.200 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:16:17.200Z,1758399377.200 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:16:17.452Z,1758399377.452 [DAT](INFO): DAT read: user:179>
2025-09-20T20:16:17.453Z,1758399377.453 [DAT](INFO): DAT read: Tx time:20:16:20.1015
2025-09-20T20:16:17.453Z,1758399377.453 [DAT](INFO): Ping request sent.
2025-09-20T20:16:17.453Z,1758399377.453 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:16:17.453Z,1758399377.453 [DAT](INFO): publishing transmit ping time
2025-09-20T20:16:17.454Z,1758399377.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-09-20T20:16:17.569Z,1758399377.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:17.707Z,1758399377.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253470
2025-09-20T20:16:17.956Z,1758399377.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502943
2025-09-20T20:16:18.053Z,1758399378.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:18.208Z,1758399378.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755414
2025-09-20T20:16:18.460Z,1758399378.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007133
2025-09-20T20:16:18.476Z,1758399378.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:18.714Z,1758399378.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261160
2025-09-20T20:16:18.905Z,1758399378.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:18.966Z,1758399378.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513166
2025-09-20T20:16:19.217Z,1758399379.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764262
2025-09-20T20:16:19.295Z,1758399379.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:19.468Z,1758399379.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015071
2025-09-20T20:16:19.683Z,1758399379.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:19.721Z,1758399379.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268436
2025-09-20T20:16:19.972Z,1758399379.972 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519071
2025-09-20T20:16:20.149Z,1758399380.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:20.225Z,1758399380.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771604
2025-09-20T20:16:20.476Z,1758399380.476 [DAT](INFO): DAT read: Rx Time:20:16:22.5608
2025-09-20T20:16:20.477Z,1758399380.477 [DAT](INFO): Rx dataTimestamp_ set to:1758399380.476448
2025-09-20T20:16:20.477Z,1758399380.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024337
2025-09-20T20:16:20.565Z,1758399380.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.45 m.
2025-09-20T20:16:20.728Z,1758399380.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275090
2025-09-20T20:16:20.986Z,1758399380.986 [DAT](INFO): DAT read: 20:16:22.5607 LVL= 30400, 18993, 22386, 32755, AGC= 55, IDX= 513, 0.30, 0.496, 2.816, 2.070, 2.066, PHS=-1.467, 0.796,-0.039, RAW= 291.4, 7.2, CAL= 289.2, 6.0, ROT= 220.8, -6.0
2025-09-20T20:16:20.987Z,1758399380.987 [DAT](INFO): got valid direction response:
20:16:22.5607 LVL= 30400, 18993, 22386, 32755, AGC= 55, IDX= 513, 0.30, 0.496, 2.816, 2.070, 2.066, PHS=-1.467, 0.796,-0.039, RAW= 291.4, 7.2, CAL= 289.2, 6.0, ROT= 220.8, -6.0
2025-09-20T20:16:20.989Z,1758399380.989 [DAT](INFO): DAT read: Bearing 172.2, -39.5 (Local)
2025-09-20T20:16:20.989Z,1758399380.989 [DAT](INFO): Local bearing/azimuth received:
Bearing 172.2, -39.5 (Local)
2025-09-20T20:16:20.992Z,1758399380.992 [DAT](INFO): DAT read: Range 11 to 50 : 41.3 m (Round-trip 55.1 ms) speed -0.2 m/s
2025-09-20T20:16:20.993Z,1758399380.993 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:16:20.995Z,1758399380.995 [DAT](INFO): direction in FSK: [-0.752848,-0.649841,0.104528]
2025-09-20T20:16:20.996Z,1758399380.996 [DAT](INFO): publishing direction and range info
2025-09-20T20:16:21.100Z,1758399381.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.299999 m,
deltaT: 60.504006 s,
deltaX: 4.700001 m,
approachRate: 0.077681 m/s,
rangeRepo size: 4
2025-09-20T20:16:21.102Z,1758399381.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 41.116783 m,
bearing: 88.933476 deg,
lat: 36.779274 deg,
lon: -121.859574 deg,
deltaT: 60.504006 s,
deltaX: 4.671619 m,
approachRate: 0.077212 m/s,
posRepo size: 4
2025-09-20T20:16:21.103Z,1758399381.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:21.527Z,1758399381.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:21.935Z,1758399381.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:22.311Z,1758399382.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:22.720Z,1758399382.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:23.193Z,1758399383.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:23.578Z,1758399383.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:24.035Z,1758399384.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:24.443Z,1758399384.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:24.913Z,1758399384.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:25.335Z,1758399385.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:25.756Z,1758399385.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:26.216Z,1758399386.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:26.606Z,1758399386.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:27.053Z,1758399387.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:27.441Z,1758399387.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:27.848Z,1758399387.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:28.314Z,1758399388.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:28.690Z,1758399388.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:29.111Z,1758399389.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:29.538Z,1758399389.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:30.039Z,1758399390.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:30.452Z,1758399390.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:30.847Z,1758399390.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:31.295Z,1758399391.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:31.695Z,1758399391.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:32.104Z,1758399392.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:32.507Z,1758399392.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:32.907Z,1758399392.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:33.327Z,1758399393.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:33.706Z,1758399393.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:34.128Z,1758399394.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:34.528Z,1758399394.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:34.922Z,1758399394.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:35.393Z,1758399395.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:35.796Z,1758399395.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:36.219Z,1758399396.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:36.586Z,1758399396.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:37.020Z,1758399397.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:37.495Z,1758399397.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:37.934Z,1758399397.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:38.338Z,1758399398.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:38.724Z,1758399398.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:39.154Z,1758399399.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:39.530Z,1758399399.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:39.970Z,1758399399.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:40.405Z,1758399400.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:40.815Z,1758399400.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:41.229Z,1758399401.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:41.598Z,1758399401.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:41.668Z,1758399401.668 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:16:42.010Z,1758399402.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:42.428Z,1758399402.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:42.674Z,1758399402.674 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:16:42.818Z,1758399402.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:43.268Z,1758399403.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:43.625Z,1758399403.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:44.041Z,1758399404.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:44.484Z,1758399404.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:44.886Z,1758399404.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:45.314Z,1758399405.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:45.686Z,1758399405.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:46.089Z,1758399406.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:46.533Z,1758399406.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:47.022Z,1758399407.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:47.422Z,1758399407.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:47.833Z,1758399407.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:48.284Z,1758399408.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:48.673Z,1758399408.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:49.078Z,1758399409.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:49.506Z,1758399409.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:49.903Z,1758399409.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:50.328Z,1758399410.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:50.725Z,1758399410.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:51.145Z,1758399411.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:51.567Z,1758399411.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:51.992Z,1758399411.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:52.416Z,1758399412.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:52.821Z,1758399412.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:53.236Z,1758399413.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:53.646Z,1758399413.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:54.027Z,1758399414.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:54.484Z,1758399414.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:54.892Z,1758399414.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:55.367Z,1758399415.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:55.813Z,1758399415.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:56.213Z,1758399416.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:56.635Z,1758399416.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:57.038Z,1758399417.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:57.513Z,1758399417.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:57.928Z,1758399417.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:58.414Z,1758399418.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:58.730Z,1758399418.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:59.143Z,1758399419.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:59.559Z,1758399419.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:16:59.975Z,1758399419.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:00.486Z,1758399420.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:00.897Z,1758399420.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:01.323Z,1758399421.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:01.756Z,1758399421.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:02.205Z,1758399422.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:02.623Z,1758399422.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:02.995Z,1758399422.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:03.474Z,1758399423.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:03.878Z,1758399423.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:04.258Z,1758399424.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:04.702Z,1758399424.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:05.071Z,1758399425.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:05.540Z,1758399425.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:05.953Z,1758399425.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:06.337Z,1758399426.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:06.762Z,1758399426.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:07.170Z,1758399427.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:07.599Z,1758399427.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:08.008Z,1758399428.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:08.418Z,1758399428.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:08.846Z,1758399428.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:09.202Z,1758399429.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:09.624Z,1758399429.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:10.007Z,1758399430.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:10.450Z,1758399430.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:10.876Z,1758399430.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:11.300Z,1758399431.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:11.728Z,1758399431.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:12.139Z,1758399432.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:12.645Z,1758399432.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:12.800Z,1758399432.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:17:13.079Z,1758399433.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:13.456Z,1758399433.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:13.803Z,1758399433.803 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:17:13.914Z,1758399433.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:14.326Z,1758399434.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:14.746Z,1758399434.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:15.121Z,1758399435.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:15.524Z,1758399435.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:15.955Z,1758399435.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:16.355Z,1758399436.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:16.788Z,1758399436.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:17.195Z,1758399437.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:17:17.197Z,1758399437.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:17.220Z,1758399437.220 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:17:17.220Z,1758399437.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:17:17.472Z,1758399437.472 [DAT](INFO): DAT read: user:180>
2025-09-20T20:17:17.473Z,1758399437.473 [DAT](INFO): DAT read: Tx time:20:17:20.1013
2025-09-20T20:17:17.473Z,1758399437.473 [DAT](INFO): Ping request sent.
2025-09-20T20:17:17.473Z,1758399437.473 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:17:17.473Z,1758399437.473 [DAT](INFO): publishing transmit ping time
2025-09-20T20:17:17.474Z,1758399437.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-09-20T20:17:17.648Z,1758399437.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:17.724Z,1758399437.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251245
2025-09-20T20:17:17.976Z,1758399437.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502877
2025-09-20T20:17:18.111Z,1758399438.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:18.228Z,1758399438.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754925
2025-09-20T20:17:18.480Z,1758399438.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811
2025-09-20T20:17:18.557Z,1758399438.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:18.733Z,1758399438.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259732
2025-09-20T20:17:18.974Z,1758399438.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:18.984Z,1758399438.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511041
2025-09-20T20:17:19.236Z,1758399439.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762879
2025-09-20T20:17:19.356Z,1758399439.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:19.488Z,1758399439.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877
2025-09-20T20:17:19.740Z,1758399439.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266938
2025-09-20T20:17:19.806Z,1758399439.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:19.993Z,1758399439.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520217
2025-09-20T20:17:20.228Z,1758399440.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:20.245Z,1758399440.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772213
2025-09-20T20:17:20.496Z,1758399440.496 [DAT](INFO): DAT read: Rx Time:20:17:22.5692
2025-09-20T20:17:20.496Z,1758399440.496 [DAT](INFO): Rx dataTimestamp_ set to:1758399440.496193
2025-09-20T20:17:20.497Z,1758399440.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023951
2025-09-20T20:17:20.701Z,1758399440.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.12 m.
2025-09-20T20:17:20.749Z,1758399440.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275552
2025-09-20T20:17:21.005Z,1758399441.005 [DAT](INFO): DAT read: 20:17:22.5691 LVL= 27280, 14689, 21330, 26659, AGC= 61, IDX= 8, 0.46,-0.139, 2.202, 1.135, 1.345, PHS=-1.381, 0.902,-0.254, RAW= 300.4, 7.5, CAL= 298.0, 7.3, ROT= 212.0, -7.3
2025-09-20T20:17:21.006Z,1758399441.006 [DAT](INFO): got valid direction response:
20:17:22.5691 LVL= 27280, 14689, 21330, 26659, AGC= 61, IDX= 8, 0.46,-0.139, 2.202, 1.135, 1.345, PHS=-1.381, 0.902,-0.254, RAW= 300.4, 7.5, CAL= 298.0, 7.3, ROT= 212.0, -7.3
2025-09-20T20:17:21.007Z,1758399441.007 [DAT](INFO): DAT read: Bearing 190.5, -37.2 (Local)
2025-09-20T20:17:21.008Z,1758399441.008 [DAT](INFO): Local bearing/azimuth received:
Bearing 190.5, -37.2 (Local)
2025-09-20T20:17:21.009Z,1758399441.009 [DAT](INFO): DAT read: Range 11 to 50 : 47.7 m (Round-trip 63.7 ms) speed -0.1 m/s
2025-09-20T20:17:21.010Z,1758399441.010 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:17:21.011Z,1758399441.011 [DAT](INFO): direction in FSK: [-0.841174,-0.525624,0.127065]
2025-09-20T20:17:21.011Z,1758399441.011 [DAT](INFO): publishing direction and range info
2025-09-20T20:17:21.152Z,1758399441.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.700001 m,
deltaT: 60.020021 s,
deltaX: 6.400002 m,
approachRate: 0.106631 m/s,
rangeRepo size: 4
2025-09-20T20:17:21.154Z,1758399441.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 47.486744 m,
bearing: 95.842897 deg,
lat: 36.779281 deg,
lon: -121.859566 deg,
deltaT: 60.020021 s,
deltaX: 6.369961 m,
approachRate: 0.106131 m/s,
posRepo size: 4
2025-09-20T20:17:21.155Z,1758399441.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:21.449Z,1758399441.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:21.907Z,1758399441.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:22.301Z,1758399442.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:22.768Z,1758399442.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:23.228Z,1758399443.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:23.634Z,1758399443.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:24.043Z,1758399444.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:24.460Z,1758399444.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:24.890Z,1758399444.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:25.251Z,1758399445.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:25.660Z,1758399445.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:26.078Z,1758399446.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:26.470Z,1758399446.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:26.909Z,1758399446.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:27.275Z,1758399447.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:27.686Z,1758399447.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:28.112Z,1758399448.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:28.493Z,1758399448.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:28.935Z,1758399448.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:29.304Z,1758399449.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:29.722Z,1758399449.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:30.158Z,1758399450.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:30.518Z,1758399450.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:30.945Z,1758399450.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:31.358Z,1758399451.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:31.732Z,1758399451.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:32.196Z,1758399452.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:32.549Z,1758399452.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:32.981Z,1758399452.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:33.366Z,1758399453.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:33.767Z,1758399453.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:34.198Z,1758399454.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:34.561Z,1758399454.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:34.994Z,1758399454.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:35.390Z,1758399455.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:35.786Z,1758399455.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:36.233Z,1758399456.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:36.593Z,1758399456.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:37.015Z,1758399457.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:37.392Z,1758399457.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:37.805Z,1758399457.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:38.237Z,1758399458.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:38.619Z,1758399458.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:39.055Z,1758399459.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:39.414Z,1758399459.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:39.835Z,1758399459.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:40.252Z,1758399460.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:40.668Z,1758399460.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:41.091Z,1758399461.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:41.470Z,1758399461.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:41.877Z,1758399461.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:42.306Z,1758399462.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:42.697Z,1758399462.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:43.115Z,1758399463.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:43.485Z,1758399463.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:43.895Z,1758399463.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:43.948Z,1758399463.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:17:44.374Z,1758399464.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:44.696Z,1758399464.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:44.952Z,1758399464.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:17:45.101Z,1758399465.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:45.507Z,1758399465.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:45.921Z,1758399465.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:46.382Z,1758399466.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:46.720Z,1758399466.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:47.151Z,1758399467.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:47.517Z,1758399467.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:47.925Z,1758399467.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:48.366Z,1758399468.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:48.726Z,1758399468.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:49.183Z,1758399469.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:49.547Z,1758399469.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:49.952Z,1758399469.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:50.386Z,1758399470.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:50.749Z,1758399470.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:51.216Z,1758399471.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:51.574Z,1758399471.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:51.970Z,1758399471.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:52.412Z,1758399472.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:52.802Z,1758399472.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:53.258Z,1758399473.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:53.602Z,1758399473.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:53.992Z,1758399473.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:54.433Z,1758399474.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:54.821Z,1758399474.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:55.317Z,1758399475.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:55.644Z,1758399475.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:56.061Z,1758399476.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:56.482Z,1758399476.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:56.855Z,1758399476.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:57.325Z,1758399477.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:57.670Z,1758399477.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:58.085Z,1758399478.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:58.514Z,1758399478.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:58.877Z,1758399478.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:59.345Z,1758399479.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:17:59.717Z,1758399479.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:00.137Z,1758399480.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:00.562Z,1758399480.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:00.950Z,1758399480.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:01.379Z,1758399481.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:01.720Z,1758399481.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:02.146Z,1758399482.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:02.566Z,1758399482.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:02.950Z,1758399482.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:03.382Z,1758399483.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:03.741Z,1758399483.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:04.154Z,1758399484.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:04.574Z,1758399484.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:04.956Z,1758399484.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:05.406Z,1758399485.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:05.824Z,1758399485.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:06.176Z,1758399486.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:06.605Z,1758399486.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:06.976Z,1758399486.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:07.439Z,1758399487.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:07.805Z,1758399487.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:08.218Z,1758399488.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:08.609Z,1758399488.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:09.007Z,1758399489.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:09.535Z,1758399489.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:09.836Z,1758399489.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:10.205Z,1758399490.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:10.636Z,1758399490.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:11.014Z,1758399491.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:11.514Z,1758399491.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:11.900Z,1758399491.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:12.309Z,1758399492.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:12.728Z,1758399492.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:13.119Z,1758399493.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:13.603Z,1758399493.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:13.914Z,1758399493.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:14.328Z,1758399494.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:14.767Z,1758399494.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:15.071Z,1758399495.071 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:18:15.158Z,1758399495.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:15.580Z,1758399495.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:15.948Z,1758399495.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:16.075Z,1758399496.075 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:18:16.334Z,1758399496.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:16.801Z,1758399496.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:17.214Z,1758399497.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:18:17.216Z,1758399497.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:17.217Z,1758399497.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 47.70 m and bearing: 104.112796 deg. Not drifting fast enough.
2025-09-20T20:18:17.220Z,1758399497.220 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:18:17.220Z,1758399497.220 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:18:17.474Z,1758399497.474 [DAT](INFO): DAT read: user:181>
2025-09-20T20:18:17.477Z,1758399497.477 [DAT](INFO): DAT read: Tx time:20:18:20.1011
2025-09-20T20:18:17.478Z,1758399497.478 [DAT](INFO): Ping request sent.
2025-09-20T20:18:17.478Z,1758399497.478 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:18:17.480Z,1758399497.480 [DAT](INFO): publishing transmit ping time
2025-09-20T20:18:17.483Z,1758399497.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.004013
2025-09-20T20:18:17.648Z,1758399497.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:17.650Z,1758399497.650 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-09-20T20:18:17.650Z,1758399497.650 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-20T20:18:17.650Z,1758399497.650 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-09-20T20:18:17.651Z,1758399497.651 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-20T20:18:17.725Z,1758399497.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246534
2025-09-20T20:18:17.976Z,1758399497.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498083
2025-09-20T20:18:18.039Z,1758399498.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:18.230Z,1758399498.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751856
2025-09-20T20:18:18.423Z,1758399498.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:18.480Z,1758399498.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002020
2025-09-20T20:18:18.733Z,1758399498.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255436
2025-09-20T20:18:18.873Z,1758399498.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:18.984Z,1758399498.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506157
2025-09-20T20:18:19.237Z,1758399499.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758779
2025-09-20T20:18:19.255Z,1758399499.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:19.489Z,1758399499.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011021
2025-09-20T20:18:19.704Z,1758399499.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:19.741Z,1758399499.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263280
2025-09-20T20:18:19.992Z,1758399499.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514170
2025-09-20T20:18:20.072Z,1758399500.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:20.245Z,1758399500.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767041
2025-09-20T20:18:20.486Z,1758399500.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:20.496Z,1758399500.496 [DAT](INFO): DAT read: Rx Time:20:18:22.5754
2025-09-20T20:18:20.497Z,1758399500.497 [DAT](INFO): Rx dataTimestamp_ set to:1758399500.496329
2025-09-20T20:18:20.497Z,1758399500.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019258
2025-09-20T20:18:20.749Z,1758399500.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270848
2025-09-20T20:18:20.911Z,1758399500.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.49 m.
2025-09-20T20:18:21.006Z,1758399501.006 [DAT](INFO): DAT read: 20:18:22.5754 LVL= 32752, 20849, 25458, 32755, AGC= 61, IDX= 492, 0.08,-1.360, 0.935,-0.159, 0.012, PHS=-1.270, 0.968,-0.215, RAW= 301.9, 5.4, CAL= 299.5, 3.1, ROT= 210.5, -3.1
2025-09-20T20:18:21.008Z,1758399501.008 [DAT](INFO): got valid direction response:
20:18:22.5754 LVL= 32752, 20849, 25458, 32755, AGC= 61, IDX= 492, 0.08,-1.360, 0.935,-0.159, 0.012, PHS=-1.270, 0.968,-0.215, RAW= 301.9, 5.4, CAL= 299.5, 3.1, ROT= 210.5, -3.1
2025-09-20T20:18:21.009Z,1758399501.009 [DAT](INFO): DAT read: Bearing 209.6, -34.0 (Local)
2025-09-20T20:18:21.009Z,1758399501.009 [DAT](INFO): Local bearing/azimuth received:
Bearing 209.6, -34.0 (Local)
2025-09-20T20:18:21.010Z,1758399501.010 [DAT](INFO): DAT read: Range 11 to 50 : 52.7 m (Round-trip 70.3 ms) speed 0.0 m/s
2025-09-20T20:18:21.016Z,1758399501.016 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:18:21.017Z,1758399501.017 [DAT](INFO): direction in FSK: [-0.860368,-0.506796,0.054079]
2025-09-20T20:18:21.017Z,1758399501.017 [DAT](INFO): publishing direction and range info
2025-09-20T20:18:21.292Z,1758399501.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 52.700001 m,
deltaT: 60.001181 s,
deltaX: 5.000000 m,
approachRate: 0.083332 m/s,
rangeRepo size: 4
2025-09-20T20:18:21.294Z,1758399501.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 52.466793 m,
bearing: 102.689370 deg,
lat: 36.779294 deg,
lon: -121.859565 deg,
deltaT: 60.001181 s,
deltaX: 4.980049 m,
approachRate: 0.082999 m/s,
posRepo size: 4
2025-09-20T20:18:21.294Z,1758399501.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:21.702Z,1758399501.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:22.091Z,1758399502.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:22.502Z,1758399502.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:22.928Z,1758399502.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:23.307Z,1758399503.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:23.815Z,1758399503.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:24.152Z,1758399504.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:24.560Z,1758399504.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:24.983Z,1758399504.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:25.384Z,1758399505.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:25.819Z,1758399505.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:26.182Z,1758399506.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:26.592Z,1758399506.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:26.998Z,1758399506.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:27.390Z,1758399507.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:27.906Z,1758399507.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:28.273Z,1758399508.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:28.826Z,1758399508.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:29.184Z,1758399509.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:29.585Z,1758399509.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:30.039Z,1758399510.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:30.406Z,1758399510.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:30.858Z,1758399510.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:31.230Z,1758399511.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:31.634Z,1758399511.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:32.027Z,1758399512.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:32.425Z,1758399512.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:32.848Z,1758399512.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:33.266Z,1758399513.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:33.626Z,1758399513.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:34.054Z,1758399514.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:34.448Z,1758399514.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:34.879Z,1758399514.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:35.284Z,1758399515.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:35.653Z,1758399515.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:36.071Z,1758399516.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:36.456Z,1758399516.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:36.964Z,1758399516.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:37.344Z,1758399517.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:37.896Z,1758399517.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:38.251Z,1758399518.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:38.611Z,1758399518.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:39.037Z,1758399519.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:39.409Z,1758399519.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:39.879Z,1758399519.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:40.252Z,1758399520.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:40.644Z,1758399520.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:41.069Z,1758399521.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:41.443Z,1758399521.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:41.912Z,1758399521.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:42.253Z,1758399522.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:42.642Z,1758399522.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:43.074Z,1758399523.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:43.448Z,1758399523.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:43.899Z,1758399523.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:44.288Z,1758399524.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:44.698Z,1758399524.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:45.098Z,1758399525.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:45.473Z,1758399525.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:45.884Z,1758399525.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:46.195Z,1758399526.195 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:18:46.319Z,1758399526.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:46.709Z,1758399526.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:47.099Z,1758399527.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:47.200Z,1758399527.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:18:47.498Z,1758399527.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:47.912Z,1758399527.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:48.338Z,1758399528.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:48.708Z,1758399528.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:49.128Z,1758399529.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:49.520Z,1758399529.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:49.941Z,1758399529.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:50.358Z,1758399530.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:50.728Z,1758399530.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:51.152Z,1758399531.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:51.529Z,1758399531.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:51.947Z,1758399531.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:52.389Z,1758399532.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:52.744Z,1758399532.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:53.201Z,1758399533.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:53.564Z,1758399533.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:53.952Z,1758399533.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:54.376Z,1758399534.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:54.769Z,1758399534.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:55.202Z,1758399535.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:55.570Z,1758399535.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:55.977Z,1758399535.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:56.398Z,1758399536.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:56.786Z,1758399536.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:57.237Z,1758399537.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:57.597Z,1758399537.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:57.987Z,1758399537.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:58.410Z,1758399538.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:58.808Z,1758399538.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:59.230Z,1758399539.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:18:59.604Z,1758399539.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:00.012Z,1758399540.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:00.430Z,1758399540.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:00.826Z,1758399540.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:01.259Z,1758399541.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:01.664Z,1758399541.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:02.030Z,1758399542.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:02.458Z,1758399542.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:02.835Z,1758399542.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:03.281Z,1758399543.281 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, +8 +555.24,6.61, 7.94, 0.00
2025-09-20T20:19:03.296Z,1758399543.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:03.664Z,1758399543.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:04.054Z,1758399544.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:04.480Z,1758399544.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:04.856Z,1758399544.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:05.305Z,1758399545.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:05.674Z,1758399545.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:06.088Z,1758399546.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:06.517Z,1758399546.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:06.880Z,1758399546.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:07.347Z,1758399547.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:07.682Z,1758399547.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:08.088Z,1758399548.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:08.503Z,1758399548.503 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032800065413,35.0, +11.2, 0.0 0
2025-09-20T20:19:08.519Z,1758399548.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:08.902Z,1758399548.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:09.380Z,1758399549.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:09.737Z,1758399549.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:10.122Z,1758399550.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:10.539Z,1758399550.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:10.940Z,1758399550.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:11.406Z,1758399551.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:11.780Z,1758399551.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:12.148Z,1758399552.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:12.570Z,1758399552.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:12.958Z,1758399552.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:13.408Z,1758399553.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:13.747Z,1758399553.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:14.158Z,1758399554.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:14.633Z,1758399554.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:14.954Z,1758399554.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:15.421Z,1758399555.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:15.796Z,1758399555.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:16.167Z,1758399556.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:16.563Z,1758399556.563 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 85.34, 81.94, 95.88
2025-09-20T20:19:16.582Z,1758399556.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:16.975Z,1758399556.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:17.319Z,1758399557.319 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:19:17.448Z,1758399557.448 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:19:17.450Z,1758399557.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:17.476Z,1758399557.476 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:19:17.476Z,1758399557.476 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:19:17.728Z,1758399557.728 [DAT](INFO): DAT read: user:182>
2025-09-20T20:19:17.729Z,1758399557.729 [DAT](INFO): DAT read: Tx time:20:19:20.4008
2025-09-20T20:19:17.729Z,1758399557.729 [DAT](INFO): Ping request sent.
2025-09-20T20:19:17.729Z,1758399557.729 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:19:17.729Z,1758399557.729 [DAT](INFO): publishing transmit ping time
2025-09-20T20:19:17.730Z,1758399557.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738
2025-09-20T20:19:17.941Z,1758399557.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:17.980Z,1758399557.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251099
2025-09-20T20:19:18.232Z,1758399558.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503386
2025-09-20T20:19:18.323Z,1758399558.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:19:18.484Z,1758399558.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755022
2025-09-20T20:19:18.501Z,1758399558.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:18.736Z,1758399558.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007044
2025-09-20T20:19:18.938Z,1758399558.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:18.989Z,1758399558.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259511
2025-09-20T20:19:19.240Z,1758399559.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510915
2025-09-20T20:19:19.465Z,1758399559.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:19.492Z,1758399559.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762943
2025-09-20T20:19:19.744Z,1758399559.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015291
2025-09-20T20:19:19.850Z,1758399559.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:19.996Z,1758399559.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266884
2025-09-20T20:19:20.231Z,1758399560.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:20.249Z,1758399560.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519950
2025-09-20T20:19:20.500Z,1758399560.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770943
2025-09-20T20:19:20.678Z,1758399560.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:20.754Z,1758399560.754 [DAT](INFO): DAT read: Rx Time:20:19:22.9212
2025-09-20T20:19:20.755Z,1758399560.755 [DAT](INFO): Rx dataTimestamp_ set to:1758399560.754098
2025-09-20T20:19:20.756Z,1758399560.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026425
2025-09-20T20:19:21.004Z,1758399561.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274985
2025-09-20T20:19:21.031Z,1758399561.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.47 m.
2025-09-20T20:19:21.261Z,1758399561.261 [DAT](INFO): DAT read: 20:19:22.9212 LVL= 32752, 28065, 32754, 32755, AGC= 71, IDX= 403, 0.30,-2.665,-0.803,-2.585,-2.154, PHS=-0.409, 1.396,-0.475, RAW= 331.8, -5.6, CAL= 331.3, -8.7, ROT= 178.7, 8.7
2025-09-20T20:19:21.262Z,1758399561.262 [DAT](INFO): got valid direction response:
20:19:22.9212 LVL= 32752, 28065, 32754, 32755, AGC= 71, IDX= 403, 0.30,-2.665,-0.803,-2.585,-2.154, PHS=-0.409, 1.396,-0.475, RAW= 331.8, -5.6, CAL= 331.3, -8.7, ROT= 178.7, 8.7
2025-09-20T20:19:21.263Z,1758399561.263 [DAT](INFO): DAT read: Bearing 263.8, 8.9 (Local)
2025-09-20T20:19:21.264Z,1758399561.264 [DAT](INFO): Local bearing/azimuth received:
Bearing 263.8, 8.9 (Local)
2025-09-20T20:19:21.265Z,1758399561.265 [DAT](INFO): DAT read: Range 11 to 50 : 87.2 m (Round-trip 116.3 ms) speed -0.9 m/s
2025-09-20T20:19:21.266Z,1758399561.266 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:19:21.267Z,1758399561.267 [DAT](INFO): direction in FSK: [-0.988239,0.022426,-0.151261]
2025-09-20T20:19:21.267Z,1758399561.267 [DAT](INFO): publishing direction and range info
2025-09-20T20:19:21.512Z,1758399561.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.199997 m,
deltaT: 60.254798 s,
deltaX: 34.499996 m,
approachRate: 0.572568 m/s,
rangeRepo size: 4
2025-09-20T20:19:21.514Z,1758399561.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 86.821838 m,
bearing: 105.947799 deg,
lat: 36.779294 deg,
lon: -121.859565 deg,
deltaT: 60.254798 s,
deltaX: 34.355045 m,
approachRate: 0.570163 m/s,
posRepo size: 4
2025-09-20T20:19:21.515Z,1758399561.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:21.996Z,1758399561.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:22.360Z,1758399562.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:22.814Z,1758399562.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:23.185Z,1758399563.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:23.627Z,1758399563.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:23.976Z,1758399563.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:24.380Z,1758399564.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:24.816Z,1758399564.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:25.188Z,1758399565.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:25.645Z,1758399565.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:25.996Z,1758399565.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:26.406Z,1758399566.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:26.835Z,1758399566.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:27.246Z,1758399567.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:27.679Z,1758399567.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:28.037Z,1758399568.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:28.445Z,1758399568.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:28.873Z,1758399568.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:29.252Z,1758399569.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:29.709Z,1758399569.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:30.170Z,1758399570.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:30.626Z,1758399570.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:31.068Z,1758399571.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:31.430Z,1758399571.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:31.854Z,1758399571.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:32.235Z,1758399572.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:32.703Z,1758399572.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:33.159Z,1758399573.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:33.584Z,1758399573.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:34.133Z,1758399574.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:34.500Z,1758399574.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:34.923Z,1758399574.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:35.314Z,1758399575.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:35.759Z,1758399575.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:36.136Z,1758399576.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:36.526Z,1758399576.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:36.948Z,1758399576.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:37.331Z,1758399577.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:37.843Z,1758399577.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:38.217Z,1758399578.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:38.626Z,1758399578.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:39.068Z,1758399579.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:39.438Z,1758399579.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:39.863Z,1758399579.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:40.236Z,1758399580.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:40.641Z,1758399580.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:41.082Z,1758399581.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:41.450Z,1758399581.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:41.880Z,1758399581.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:42.267Z,1758399582.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:42.660Z,1758399582.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:43.077Z,1758399583.077 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, 740, -4,A
2025-09-20T20:19:43.106Z,1758399583.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:43.469Z,1758399583.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:43.905Z,1758399583.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:44.290Z,1758399584.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:44.678Z,1758399584.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:45.132Z,1758399585.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:45.494Z,1758399585.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:45.919Z,1758399585.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:46.331Z,1758399586.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:46.701Z,1758399586.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:47.191Z,1758399587.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:47.588Z,1758399587.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:48.064Z,1758399588.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:48.431Z,1758399588.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:48.443Z,1758399588.443 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:19:48.959Z,1758399588.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:49.310Z,1758399589.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:49.448Z,1758399589.448 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:19:49.691Z,1758399589.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:50.114Z,1758399590.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:50.506Z,1758399590.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:50.980Z,1758399590.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:51.335Z,1758399591.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:51.713Z,1758399591.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:52.139Z,1758399592.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:52.558Z,1758399592.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:52.988Z,1758399592.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:53.344Z,1758399593.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:53.781Z,1758399593.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:54.179Z,1758399594.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:54.561Z,1758399594.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:55.038Z,1758399595.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:55.384Z,1758399595.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:55.807Z,1758399595.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:56.224Z,1758399596.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:56.592Z,1758399596.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:57.064Z,1758399597.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:57.422Z,1758399597.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:57.827Z,1758399597.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:58.247Z,1758399598.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:58.613Z,1758399598.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:59.084Z,1758399599.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:59.443Z,1758399599.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:19:59.828Z,1758399599.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:00.248Z,1758399600.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:00.637Z,1758399600.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:01.112Z,1758399601.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:01.438Z,1758399601.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:01.852Z,1758399601.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:02.272Z,1758399602.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:02.659Z,1758399602.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:03.130Z,1758399603.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:03.472Z,1758399603.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:03.882Z,1758399603.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:04.306Z,1758399604.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:04.683Z,1758399604.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:05.142Z,1758399605.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:05.528Z,1758399605.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:05.892Z,1758399605.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:06.317Z,1758399606.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:06.702Z,1758399606.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:07.172Z,1758399607.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:07.552Z,1758399607.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:07.910Z,1758399607.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:08.374Z,1758399608.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:08.734Z,1758399608.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:09.187Z,1758399609.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:09.577Z,1758399609.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:09.935Z,1758399609.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:10.364Z,1758399610.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:10.735Z,1758399610.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:11.145Z,1758399611.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:11.574Z,1758399611.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:11.967Z,1758399611.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:12.389Z,1758399612.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:12.785Z,1758399612.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:13.170Z,1758399613.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:13.597Z,1758399613.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:13.968Z,1758399613.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:14.390Z,1758399614.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:14.790Z,1758399614.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:15.196Z,1758399615.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:15.634Z,1758399615.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:16.013Z,1758399616.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:16.419Z,1758399616.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:16.883Z,1758399616.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:17.342Z,1758399617.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:17.785Z,1758399617.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:17.788Z,1758399617.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:17.980Z,1758399617.980 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:17.981Z,1758399617.981 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:18.178Z,1758399618.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:18.233Z,1758399618.233 [DAT](INFO): DAT read: user:183>
2025-09-20T20:20:18.234Z,1758399618.234 [DAT](INFO): DAT read: Tx time:20:20:20.9006
2025-09-20T20:20:18.234Z,1758399618.234 [DAT](INFO): Ping request sent.
2025-09-20T20:20:18.235Z,1758399618.235 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:20:18.235Z,1758399618.235 [DAT](INFO): publishing transmit ping time
2025-09-20T20:20:18.236Z,1758399618.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001190
2025-09-20T20:20:18.485Z,1758399618.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249793
2025-09-20T20:20:18.576Z,1758399618.576 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 912 2,
2025-09-20T20:20:18.596Z,1758399618.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:18.736Z,1758399618.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501318
2025-09-20T20:20:18.989Z,1758399618.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754114
2025-09-20T20:20:19.002Z,1758399619.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:19.240Z,1758399619.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005402
2025-09-20T20:20:19.416Z,1758399619.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:19.492Z,1758399619.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257815
2025-09-20T20:20:19.567Z,1758399619.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:20:19.744Z,1758399619.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509518
2025-09-20T20:20:19.801Z,1758399619.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:19.996Z,1758399619.996 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761357
2025-09-20T20:20:20.196Z,1758399620.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:20.249Z,1758399620.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014076
2025-09-20T20:20:20.500Z,1758399620.500 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265611
2025-09-20T20:20:20.571Z,1758399620.571 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:20:20.636Z,1758399620.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:20.752Z,1758399620.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517436
2025-09-20T20:20:21.004Z,1758399621.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769461
2025-09-20T20:20:21.032Z,1758399621.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:21.256Z,1758399621.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021558
2025-09-20T20:20:21.441Z,1758399621.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:21.509Z,1758399621.509 [DAT](INFO): DAT read: Rx Time:20:20:23.5566
2025-09-20T20:20:21.510Z,1758399621.510 [DAT](INFO): Rx dataTimestamp_ set to:1758399621.509514
2025-09-20T20:20:21.511Z,1758399621.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276097
2025-09-20T20:20:21.761Z,1758399621.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526011
2025-09-20T20:20:21.872Z,1758399621.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.82 m.
2025-09-20T20:20:22.026Z,1758399622.026 [DAT](INFO): DAT read: 20:20:23.5566 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 270, 0.23,-0.803, 0.411,-0.610,-0.872, PHS= 0.171, 1.329, 0.218, RAW= 328.0, -28.2, CAL= 327.7, -31.7, ROT= 182.3, 31.7
2025-09-20T20:20:22.030Z,1758399622.030 [DAT](INFO): got valid direction response:
20:20:23.5566 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 270, 0.23,-0.803, 0.411,-0.610,-0.872, PHS= 0.171, 1.329, 0.218, RAW= 328.0, -28.2, CAL= 327.7, -31.7, ROT= 182.3, 31.7
2025-09-20T20:20:22.030Z,1758399622.030 [DAT](INFO): DAT read: Bearing 289.9, -9.6 (Local)
2025-09-20T20:20:22.031Z,1758399622.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 289.9, -9.6 (Local)
2025-09-20T20:20:22.032Z,1758399622.032 [DAT](INFO): DAT read: Range 11 to 50 : 188.8 m (Round-trip 251.8 ms) speed -0.4 m/s
2025-09-20T20:20:22.033Z,1758399622.033 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:22.034Z,1758399622.034 [DAT](INFO): direction in FSK: [-0.850126,-0.034145,-0.525472]
2025-09-20T20:20:22.034Z,1758399622.034 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:22.281Z,1758399622.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 188.800003 m,
deltaT: 60.756083 s,
deltaX: 101.600006 m,
approachRate: 1.672261 m/s,
rangeRepo size: 4
2025-09-20T20:20:22.284Z,1758399622.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 187.998489 m,
bearing: 109.377628 deg,
lat: 36.779294 deg,
lon: -121.859563 deg,
deltaT: 60.756083 s,
deltaX: 101.176651 m,
approachRate: 1.665293 m/s,
posRepo size: 4
2025-09-20T20:20:22.284Z,1758399622.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 188.00 m.
2025-09-20T20:20:22.285Z,1758399622.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 188.80 m. Resuming terminal guidance.
2025-09-20T20:20:22.285Z,1758399622.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-09-20T20:20:22.689Z,1758399622.689 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-09-20T20:20:22.690Z,1758399622.690 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-20T20:20:22.690Z,1758399622.690 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-09-20T20:20:22.691Z,1758399622.691 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 188.800003 m (mode 1.000000 count ).
2025-09-20T20:20:22.692Z,1758399622.692 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-09-20T20:20:22.692Z,1758399622.692 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-09-20T20:20:23.065Z,1758399623.065 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-09-20T20:20:23.065Z,1758399623.065 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-09-20T20:20:23.066Z,1758399623.066 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:23.272Z,1758399623.272 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:23.272Z,1758399623.272 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:23.273Z,1758399623.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:23.518Z,1758399623.518 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032800080, +11.2, 0.0,1494.4, 0
2025-09-20T20:20:23.524Z,1758399623.524 [DAT](INFO): DAT read: user:184>
2025-09-20T20:20:23.525Z,1758399623.525 [DAT](INFO): DAT read: Tx time:20:20:26.2006
2025-09-20T20:20:23.525Z,1758399623.525 [DAT](INFO): Ping request sent.
2025-09-20T20:20:23.525Z,1758399623.525 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:20:23.526Z,1758399623.526 [DAT](INFO): publishing transmit ping time
2025-09-20T20:20:23.526Z,1758399623.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000713
2025-09-20T20:20:23.560Z,1758399623.560 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-09-20T20:20:23.560Z,1758399623.560 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-09-20T20:20:23.777Z,1758399623.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251484
2025-09-20T20:20:23.936Z,1758399623.936 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-09-20T20:20:23.937Z,1758399623.937 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-20T20:20:23.937Z,1758399623.937 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-09-20T20:20:23.937Z,1758399623.937 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-09-20T20:20:24.029Z,1758399624.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503555
2025-09-20T20:20:24.280Z,1758399624.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754550
2025-09-20T20:20:24.533Z,1758399624.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006867
2025-09-20T20:20:24.785Z,1758399624.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259410
2025-09-20T20:20:25.037Z,1758399625.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511535
2025-09-20T20:20:25.146Z,1758399625.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:25.289Z,1758399625.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763098
2025-09-20T20:20:25.540Z,1758399625.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014570
2025-09-20T20:20:25.792Z,1758399625.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266597
2025-09-20T20:20:26.045Z,1758399626.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519226
2025-09-20T20:20:26.296Z,1758399626.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770518
2025-09-20T20:20:26.548Z,1758399626.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022785
2025-09-20T20:20:26.800Z,1758399626.800 [DAT](INFO): DAT read: Rx Time:20:20:28.8624
2025-09-20T20:20:26.801Z,1758399626.801 [DAT](INFO): Rx dataTimestamp_ set to:1758399626.800367
2025-09-20T20:20:26.801Z,1758399626.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275773
2025-09-20T20:20:27.053Z,1758399627.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527185
2025-09-20T20:20:27.172Z,1758399627.172 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:27.309Z,1758399627.309 [DAT](INFO): DAT read: 20:20:28.8624 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 490,-0.47, 1.427, 2.718, 1.700, 1.266, PHS= 0.263, 1.497, 0.391, RAW= 324.6, -32.9, CAL= 323.8, -36.7, ROT= 186.2, 36.7
2025-09-20T20:20:27.310Z,1758399627.310 [DAT](INFO): got valid direction response:
20:20:28.8624 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 490,-0.47, 1.427, 2.718, 1.700, 1.266, PHS= 0.263, 1.497, 0.391, RAW= 324.6, -32.9, CAL= 323.8, -36.7, ROT= 186.2, 36.7
2025-09-20T20:20:27.311Z,1758399627.311 [DAT](INFO): DAT read: Bearing 295.4, -10.1 (Local)
2025-09-20T20:20:27.312Z,1758399627.312 [DAT](INFO): Local bearing/azimuth received:
Bearing 295.4, -10.1 (Local)
2025-09-20T20:20:27.313Z,1758399627.313 [DAT](INFO): DAT read: Range 11 to 50 : 193.2 m (Round-trip 257.6 ms) speed 0.0 m/s
2025-09-20T20:20:27.314Z,1758399627.314 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:27.315Z,1758399627.315 [DAT](INFO): direction in FSK: [-0.797086,-0.086591,-0.597625]
2025-09-20T20:20:27.315Z,1758399627.315 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:27.318Z,1758399627.318 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:27.319Z,1758399627.319 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:27.319Z,1758399627.319 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:27.556Z,1758399627.556 [DAT](INFO): DAT read: user:185>
2025-09-20T20:20:27.557Z,1758399627.557 [DAT](INFO): DAT read: Tx time:20:20:30.2006
2025-09-20T20:20:27.557Z,1758399627.557 [DAT](INFO): Ping request sent.
2025-09-20T20:20:27.557Z,1758399627.557 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:20:27.557Z,1758399627.557 [DAT](INFO): publishing transmit ping time
2025-09-20T20:20:27.558Z,1758399627.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-09-20T20:20:27.658Z,1758399627.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 193.199997 m,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
rangeRepo size: 1
2025-09-20T20:20:27.661Z,1758399627.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 192.370407 m,
bearing: 114.149968 deg,
lat: 36.779276 deg,
lon: -121.859563 deg,
deltaT: nan s,
deltaX: nan m,
approachRate: -1.000000 m/s,
posRepo size: 1
2025-09-20T20:20:27.662Z,1758399627.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:27.665Z,1758399627.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 136.640701 m,
bearing: 106.925618 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.000000 deg/s,
cmd heading: 104.112796 deg,
new cmd heading: 106.925618 deg.
2025-09-20T20:20:27.665Z,1758399627.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866204 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:27.808Z,1758399627.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250924
2025-09-20T20:20:27.997Z,1758399627.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:27.000Z,1758399628.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 136.896988 m,
bearing: 106.921471 deg,
approach rate: 0.755562 m/s,
LOS rate: -0.012201 deg/s,
cmd heading: 106.925614 deg,
new cmd heading: 106.921471 deg.
2025-09-20T20:20:28.001Z,1758399628.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866132 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:28.060Z,1758399628.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503007
2025-09-20T20:20:28.313Z,1758399628.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755513
2025-09-20T20:20:28.409Z,1758399628.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:28.414Z,1758399628.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 137.185410 m,
bearing: 106.914947 deg,
approach rate: 0.699928 m/s,
LOS rate: -0.015799 deg/s,
cmd heading: 106.921468 deg,
new cmd heading: 106.914947 deg.
2025-09-20T20:20:28.417Z,1758399628.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866018 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:28.564Z,1758399628.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006871
2025-09-20T20:20:28.816Z,1758399628.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259197
2025-09-20T20:20:28.973Z,1758399628.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:28.975Z,1758399628.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 137.584274 m,
bearing: 106.899137 deg,
approach rate: 0.707946 m/s,
LOS rate: -0.027979 deg/s,
cmd heading: 106.914945 deg,
new cmd heading: 106.899137 deg.
2025-09-20T20:20:28.976Z,1758399628.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865742 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:29.069Z,1758399629.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512008
2025-09-20T20:20:29.320Z,1758399629.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762701
2025-09-20T20:20:29.335Z,1758399629.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:29.337Z,1758399629.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:29.340Z,1758399629.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 137.867584 m,
bearing: 106.886039 deg,
approach rate: 0.777645 m/s,
LOS rate: -0.035879 deg/s,
cmd heading: 106.899140 deg,
new cmd heading: 106.886039 deg.
2025-09-20T20:20:29.340Z,1758399629.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865513 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:29.572Z,1758399629.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014896
2025-09-20T20:20:29.818Z,1758399629.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:29.824Z,1758399629.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267043
2025-09-20T20:20:29.826Z,1758399629.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 138.197464 m,
bearing: 106.868493 deg,
approach rate: 0.686283 m/s,
LOS rate: -0.036416 deg/s,
cmd heading: 106.886040 deg,
new cmd heading: 106.868493 deg.
2025-09-20T20:20:29.827Z,1758399629.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865207 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:30.076Z,1758399630.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519151
2025-09-20T20:20:30.190Z,1758399630.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:30.193Z,1758399630.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 138.463470 m,
bearing: 106.854406 deg,
approach rate: 0.713611 m/s,
LOS rate: -0.037718 deg/s,
cmd heading: 106.868493 deg,
new cmd heading: 106.854406 deg.
2025-09-20T20:20:30.194Z,1758399630.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864961 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:30.328Z,1758399630.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771293
2025-09-20T20:20:30.583Z,1758399630.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025587
2025-09-20T20:20:30.656Z,1758399630.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:30.658Z,1758399630.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 138.785629 m,
bearing: 106.832903 deg,
approach rate: 0.692062 m/s,
LOS rate: -0.046085 deg/s,
cmd heading: 106.854403 deg,
new cmd heading: 106.832903 deg.
2025-09-20T20:20:30.660Z,1758399630.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864586 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:30.844Z,1758399630.844 [DAT](INFO): DAT read: 20:20:32.8639 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 458,-0.28,-2.364,-1.016,-1.988,-2.541, PHS= 0.279, 1.570, 0.509, RAW= 320.4, -35.0, CAL= 318.9, -38.9, ROT= 191.1, 38.9
2025-09-20T20:20:30.845Z,1758399630.845 [DAT](INFO): got valid direction response:
20:20:32.8639 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 458,-0.28,-2.364,-1.016,-1.988,-2.541, PHS= 0.279, 1.570, 0.509, RAW= 320.4, -35.0, CAL= 318.9, -38.9, ROT= 191.1, 38.9
2025-09-20T20:20:30.845Z,1758399630.845 [DAT](INFO): DAT read: Rx Time:20:20:32.8639
2025-09-20T20:20:30.846Z,1758399630.846 [DAT](INFO): Rx dataTimestamp_ set to:1758399630.845649
2025-09-20T20:20:30.847Z,1758399630.847 [DAT](INFO): DAT read: $Low SNR acquisition
2025-09-20T20:20:30.847Z,1758399630.847 [DAT](INFO): Received low SNR in chirp
2025-09-20T20:20:30.859Z,1758399630.859 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-09-20T20:20:30.860Z,1758399630.860 [DAT](INFO): direction in FSK: [-0.763684,-0.149829,-0.627963]
2025-09-20T20:20:30.863Z,1758399630.863 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:30.863Z,1758399630.863 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:30.864Z,1758399630.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:31.004Z,1758399631.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:31.006Z,1758399631.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 139.025818 m,
bearing: 106.815158 deg,
approach rate: 0.690687 m/s,
LOS rate: -0.050938 deg/s,
cmd heading: 106.832901 deg,
new cmd heading: 106.815158 deg.
2025-09-20T20:20:31.007Z,1758399631.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864276 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:31.084Z,1758399631.084 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:31.084Z,1758399631.084 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:31.084Z,1758399631.084 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:31.336Z,1758399631.336 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:31.336Z,1758399631.336 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:31.336Z,1758399631.336 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:31.380Z,1758399631.380 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:31.382Z,1758399631.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:31.384Z,1758399631.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 139.285706 m,
bearing: 106.793984 deg,
approach rate: 0.687575 m/s,
LOS rate: -0.055917 deg/s,
cmd heading: 106.815156 deg,
new cmd heading: 106.793984 deg.
2025-09-20T20:20:31.385Z,1758399631.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863907 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:31.588Z,1758399631.588 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:31.588Z,1758399631.588 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:31.588Z,1758399631.588 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:31.826Z,1758399631.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:31.840Z,1758399631.840 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:31.840Z,1758399631.840 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:31.840Z,1758399631.840 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:31.848Z,1758399631.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 139.581512 m,
bearing: 106.767727 deg,
approach rate: 0.666127 m/s,
LOS rate: -0.059001 deg/s,
cmd heading: 106.793983 deg,
new cmd heading: 106.767727 deg.
2025-09-20T20:20:31.849Z,1758399631.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863448 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:32.092Z,1758399632.092 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:32.092Z,1758399632.092 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:32.092Z,1758399632.092 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:32.186Z,1758399632.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:32.193Z,1758399632.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 139.820038 m,
bearing: 106.742973 deg,
approach rate: 0.661147 m/s,
LOS rate: -0.068497 deg/s,
cmd heading: 106.767728 deg,
new cmd heading: 106.742973 deg.
2025-09-20T20:20:32.194Z,1758399632.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863016 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:32.344Z,1758399632.344 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:32.344Z,1758399632.344 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:32.344Z,1758399632.344 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:32.596Z,1758399632.596 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:32.596Z,1758399632.596 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:32.596Z,1758399632.596 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:32.617Z,1758399632.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:32.621Z,1758399632.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 140.102844 m,
bearing: 106.713896 deg,
approach rate: 0.656657 m/s,
LOS rate: -0.067378 deg/s,
cmd heading: 106.742975 deg,
new cmd heading: 106.713896 deg.
2025-09-20T20:20:32.621Z,1758399632.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862509 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:32.848Z,1758399632.848 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:32.848Z,1758399632.848 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:32.848Z,1758399632.848 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:32.000Z,1758399633.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:33.002Z,1758399633.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 140.353577 m,
bearing: 106.686204 deg,
approach rate: 0.654891 m/s,
LOS rate: -0.072199 deg/s,
cmd heading: 106.713899 deg,
new cmd heading: 106.686204 deg.
2025-09-20T20:20:33.003Z,1758399633.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862025 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:33.100Z,1758399633.100 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:33.100Z,1758399633.100 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:33.100Z,1758399633.100 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:33.352Z,1758399633.352 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:33.353Z,1758399633.353 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:33.353Z,1758399633.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:33.494Z,1758399633.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:33.516Z,1758399633.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:33.534Z,1758399633.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 140.663086 m,
bearing: 106.649660 deg,
approach rate: 0.606871 m/s,
LOS rate: -0.071498 deg/s,
cmd heading: 106.686202 deg,
new cmd heading: 106.649660 deg.
2025-09-20T20:20:33.541Z,1758399633.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.861388 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:33.604Z,1758399633.604 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:33.604Z,1758399633.604 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:33.604Z,1758399633.604 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:33.856Z,1758399633.856 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:33.856Z,1758399633.856 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:33.856Z,1758399633.856 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:33.951Z,1758399633.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:33.956Z,1758399633.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 140.973221 m,
bearing: 106.610926 deg,
approach rate: 0.703863 m/s,
LOS rate: -0.087714 deg/s,
cmd heading: 106.649661 deg,
new cmd heading: 106.610926 deg.
2025-09-20T20:20:33.958Z,1758399633.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860712 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:34.108Z,1758399634.108 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:34.108Z,1758399634.109 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:34.109Z,1758399634.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:34.360Z,1758399634.360 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:34.360Z,1758399634.360 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:34.360Z,1758399634.360 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:34.390Z,1758399634.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:34.408Z,1758399634.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 141.268677 m,
bearing: 106.571789 deg,
approach rate: 0.672844 m/s,
LOS rate: -0.088941 deg/s,
cmd heading: 106.610927 deg,
new cmd heading: 106.571789 deg.
2025-09-20T20:20:34.409Z,1758399634.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860029 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:34.612Z,1758399634.612 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:34.612Z,1758399634.612 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:34.612Z,1758399634.612 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:34.825Z,1758399634.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:34.833Z,1758399634.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 141.544769 m,
bearing: 106.534372 deg,
approach rate: 0.634102 m/s,
LOS rate: -0.085768 deg/s,
cmd heading: 106.571790 deg,
new cmd heading: 106.534372 deg.
2025-09-20T20:20:34.834Z,1758399634.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859376 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:34.864Z,1758399634.864 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:34.864Z,1758399634.864 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:34.864Z,1758399634.864 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:35.117Z,1758399635.117 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:35.117Z,1758399635.117 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:35.117Z,1758399635.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:35.209Z,1758399635.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:35.216Z,1758399635.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 141.788559 m,
bearing: 106.501461 deg,
approach rate: 0.634685 m/s,
LOS rate: -0.085533 deg/s,
cmd heading: 106.534374 deg,
new cmd heading: 106.501461 deg.
2025-09-20T20:20:35.217Z,1758399635.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.858801 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:35.368Z,1758399635.368 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:35.368Z,1758399635.368 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:35.368Z,1758399635.368 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:35.620Z,1758399635.620 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:35.620Z,1758399635.620 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:35.620Z,1758399635.620 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:35.622Z,1758399635.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:35.624Z,1758399635.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:35.628Z,1758399635.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 142.051117 m,
bearing: 106.464269 deg,
approach rate: 0.632467 m/s,
LOS rate: -0.089424 deg/s,
cmd heading: 106.501460 deg,
new cmd heading: 106.464269 deg.
2025-09-20T20:20:35.655Z,1758399635.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.858152 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:35.875Z,1758399635.875 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:35.876Z,1758399635.876 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:35.876Z,1758399635.876 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:35.997Z,1758399635.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:35.999Z,1758399635.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 142.287781 m,
bearing: 106.428882 deg,
approach rate: 0.635943 m/s,
LOS rate: -0.094933 deg/s,
cmd heading: 106.464269 deg,
new cmd heading: 106.428882 deg.
2025-09-20T20:20:36.000Z,1758399636.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857534 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:36.124Z,1758399636.124 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:36.124Z,1758399636.124 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:36.124Z,1758399636.124 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:36.376Z,1758399636.376 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:36.376Z,1758399636.376 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:36.376Z,1758399636.376 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:36.426Z,1758399636.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:36.442Z,1758399636.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 142.542511 m,
bearing: 106.388869 deg,
approach rate: 0.593389 m/s,
LOS rate: -0.093043 deg/s,
cmd heading: 106.428882 deg,
new cmd heading: 106.388869 deg.
2025-09-20T20:20:36.446Z,1758399636.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.856836 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:36.628Z,1758399636.628 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:36.628Z,1758399636.628 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:36.628Z,1758399636.628 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:36.838Z,1758399636.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:36.841Z,1758399636.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 142.806961 m,
bearing: 106.344795 deg,
approach rate: 0.641576 m/s,
LOS rate: -0.106727 deg/s,
cmd heading: 106.388871 deg,
new cmd heading: 106.344795 deg.
2025-09-20T20:20:36.841Z,1758399636.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.856067 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:36.880Z,1758399636.880 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:36.881Z,1758399636.881 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:36.881Z,1758399636.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:37.132Z,1758399637.132 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:37.132Z,1758399637.132 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:37.132Z,1758399637.132 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:37.208Z,1758399637.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:37.211Z,1758399637.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 143.035339 m,
bearing: 106.304962 deg,
approach rate: 0.616542 m/s,
LOS rate: -0.107364 deg/s,
cmd heading: 106.344795 deg,
new cmd heading: 106.304962 deg.
2025-09-20T20:20:37.212Z,1758399637.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.855372 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:37.384Z,1758399637.384 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:20:37.384Z,1758399637.384 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:20:37.384Z,1758399637.384 [DAT](INFO): received new query, but waiting for acoustic response period to elapse
2025-09-20T20:20:37.636Z,1758399637.636 [DAT](INFO): Reached modem response timeout
2025-09-20T20:20:37.636Z,1758399637.636 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:37.637Z,1758399637.637 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:37.670Z,1758399637.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:37.672Z,1758399637.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:37.675Z,1758399637.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 143.316025 m,
bearing: 106.255546 deg,
approach rate: 0.604841 m/s,
LOS rate: -0.106276 deg/s,
cmd heading: 106.304962 deg,
new cmd heading: 106.255546 deg.
2025-09-20T20:20:37.676Z,1758399637.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.854509 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:37.888Z,1758399637.888 [DAT](INFO): DAT read:
2025-09-20T20:20:37.888Z,1758399637.888 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:38.022Z,1758399638.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:38.024Z,1758399638.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 143.526443 m,
bearing: 106.216949 deg,
approach rate: 0.602368 m/s,
LOS rate: -0.110330 deg/s,
cmd heading: 106.255545 deg,
new cmd heading: 106.216949 deg.
2025-09-20T20:20:38.025Z,1758399638.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853835 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:38.140Z,1758399638.140 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:38.395Z,1758399638.395 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:38.457Z,1758399638.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:38.460Z,1758399638.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 143.788361 m,
bearing: 106.169081 deg,
approach rate: 0.601848 m/s,
LOS rate: -0.109795 deg/s,
cmd heading: 106.216948 deg,
new cmd heading: 106.169081 deg.
2025-09-20T20:20:38.460Z,1758399638.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853000 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:38.648Z,1758399638.648 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:38.868Z,1758399638.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:38.870Z,1758399638.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 144.033875 m,
bearing: 106.126033 deg,
approach rate: 0.597925 m/s,
LOS rate: -0.104660 deg/s,
cmd heading: 106.169082 deg,
new cmd heading: 106.126033 deg.
2025-09-20T20:20:38.871Z,1758399638.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852249 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:38.900Z,1758399638.900 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:39.152Z,1758399639.152 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:39.249Z,1758399639.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:39.251Z,1758399639.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 144.253387 m,
bearing: 106.082367 deg,
approach rate: 0.575968 m/s,
LOS rate: -0.114398 deg/s,
cmd heading: 106.126031 deg,
new cmd heading: 106.082367 deg.
2025-09-20T20:20:39.252Z,1758399639.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.851487 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:39.404Z,1758399639.404 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:39.656Z,1758399639.656 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:39.681Z,1758399639.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:39.683Z,1758399639.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:39.686Z,1758399639.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 144.502502 m,
bearing: 106.031024 deg,
approach rate: 0.573474 m/s,
LOS rate: -0.117989 deg/s,
cmd heading: 106.082366 deg,
new cmd heading: 106.031024 deg.
2025-09-20T20:20:39.687Z,1758399639.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850590 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:39.908Z,1758399639.908 [DAT](INFO): DAT read: Response Not Received
2025-09-20T20:20:39.909Z,1758399639.909 [DAT](INFO): response not received
2025-09-20T20:20:39.910Z,1758399639.910 [DAT](INFO): DAT read: user:187>Tx time:20:20:42.6506
2025-09-20T20:20:39.911Z,1758399639.911 [DAT](ERROR): No response from remote modem.
2025-09-20T20:20:39.912Z,1758399639.912 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:39.912Z,1758399639.912 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:40.054Z,1758399640.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:40.074Z,1758399640.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 144.712204 m,
bearing: 105.987964 deg,
approach rate: 0.565909 m/s,
LOS rate: -0.116036 deg/s,
cmd heading: 106.031023 deg,
new cmd heading: 105.987964 deg.
2025-09-20T20:20:40.075Z,1758399640.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849839 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:40.160Z,1758399640.160 [DAT](INFO): DAT read:
2025-09-20T20:20:40.161Z,1758399640.161 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:40.413Z,1758399640.413 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:40.459Z,1758399640.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:40.461Z,1758399640.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 144.937973 m,
bearing: 105.938131 deg,
approach rate: 0.557441 m/s,
LOS rate: -0.122849 deg/s,
cmd heading: 105.987966 deg,
new cmd heading: 105.938131 deg.
2025-09-20T20:20:40.462Z,1758399640.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848969 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:40.665Z,1758399640.665 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:40.874Z,1758399640.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:40.877Z,1758399640.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 145.167908 m,
bearing: 105.890282 deg,
approach rate: 0.553234 m/s,
LOS rate: -0.114944 deg/s,
cmd heading: 105.938133 deg,
new cmd heading: 105.890282 deg.
2025-09-20T20:20:40.878Z,1758399640.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848134 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:40.921Z,1758399640.921 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:41.172Z,1758399641.172 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:41.251Z,1758399641.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:41.253Z,1758399641.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 145.374359 m,
bearing: 105.845801 deg,
approach rate: 0.548218 m/s,
LOS rate: -0.117951 deg/s,
cmd heading: 105.890281 deg,
new cmd heading: 105.845801 deg.
2025-09-20T20:20:41.254Z,1758399641.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847358 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:41.424Z,1758399641.424 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:41.676Z,1758399641.676 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:41.722Z,1758399641.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:41.724Z,1758399641.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:41.726Z,1758399641.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 145.624298 m,
bearing: 105.790952 deg,
approach rate: 0.528345 m/s,
LOS rate: -0.115745 deg/s,
cmd heading: 105.845802 deg,
new cmd heading: 105.790952 deg.
2025-09-20T20:20:41.727Z,1758399641.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846400 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:41.929Z,1758399641.929 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:42.092Z,1758399642.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:42.094Z,1758399642.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 145.814438 m,
bearing: 105.744600 deg,
approach rate: 0.517035 m/s,
LOS rate: -0.125878 deg/s,
cmd heading: 105.790949 deg,
new cmd heading: 105.744600 deg.
2025-09-20T20:20:42.095Z,1758399642.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845591 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:42.180Z,1758399642.180 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:42.433Z,1758399642.433 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:42.492Z,1758399642.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:42.494Z,1758399642.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 146.018677 m,
bearing: 105.693216 deg,
approach rate: 0.510440 m/s,
LOS rate: -0.128241 deg/s,
cmd heading: 105.744599 deg,
new cmd heading: 105.693216 deg.
2025-09-20T20:20:42.511Z,1758399642.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844695 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:42.686Z,1758399642.686 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:42.936Z,1758399642.936 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:42.962Z,1758399642.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:42.969Z,1758399642.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 146.238068 m,
bearing: 105.635817 deg,
approach rate: 0.466697 m/s,
LOS rate: -0.121918 deg/s,
cmd heading: 105.693216 deg,
new cmd heading: 105.635817 deg.
2025-09-20T20:20:42.969Z,1758399642.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.843693 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:43.188Z,1758399643.188 [DAT](INFO): DAT read: Rx Time:20:20:45.2508
2025-09-20T20:20:43.189Z,1758399643.189 [DAT](INFO): Rx dataTimestamp_ set to:1758399643.188838
2025-09-20T20:20:43.190Z,1758399643.190 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:43.345Z,1758399643.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 192.37 m.
2025-09-20T20:20:43.367Z,1758399643.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav pure pursuit:
ac range: 192.370407 m,
nav range: 146.438797 m,
bearing: 105.581691 deg,
approach rate: 0.524615 m/s,
LOS rate: -0.141267 deg/s,
cmd heading: 105.635815 deg,
new cmd heading: 105.581691 deg.
2025-09-20T20:20:43.368Z,1758399643.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842748 target range: 192.370407 and range: 193.20 m.
2025-09-20T20:20:43.440Z,1758399643.440 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:43.698Z,1758399643.698 [DAT](INFO): DAT read: 20:20:45.2508 LVL= 27632, 21489, 21586, 27459, AGC= 63, IDX= 292, 0.13, 2.369,-1.775,-2.586,-2.615, PHS=-1.198, 0.884,-0.015, RAW= 295.5, 3.7, CAL= 293.5, -0.8, ROT= 216.5, 0.8
2025-09-20T20:20:43.699Z,1758399643.699 [DAT](INFO): got valid direction response:
20:20:45.2508 LVL= 27632, 21489, 21586, 27459, AGC= 63, IDX= 292, 0.13, 2.369,-1.775,-2.586,-2.615, PHS=-1.198, 0.884,-0.015, RAW= 295.5, 3.7, CAL= 293.5, -0.8, ROT= 216.5, 0.8
2025-09-20T20:20:43.700Z,1758399643.700 [DAT](INFO): DAT read: Bearing 221.8, -38.5 (Local)
2025-09-20T20:20:43.700Z,1758399643.700 [DAT](INFO): Local bearing/azimuth received:
Bearing 221.8, -38.5 (Local)
2025-09-20T20:20:43.702Z,1758399643.702 [DAT](INFO): DAT read: Range 11 to 50 : 147.0 m (Round-trip 196.0 ms) speed -0.5 m/s
2025-09-20T20:20:43.704Z,1758399643.704 [DAT](INFO): DAT read: user:188>Tx time:20:20:46.3506
2025-09-20T20:20:43.704Z,1758399643.704 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:43.705Z,1758399643.705 [DAT](INFO): direction in FSK: [-0.803778,-0.594765,-0.013962]
2025-09-20T20:20:43.706Z,1758399643.706 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:43.709Z,1758399643.709 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:43.709Z,1758399643.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:43.944Z,1758399643.944 [DAT](INFO): DAT read:
2025-09-20T20:20:43.944Z,1758399643.944 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:43.960Z,1758399643.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 147.000000 m,
deltaT: 16.388204 s,
deltaX: -46.199997 m,
approachRate: -2.819101 m/s,
rangeRepo size: 2
2025-09-20T20:20:43.962Z,1758399643.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 146.358917 m,
bearing: 99.010500 deg,
lat: 36.779276 deg,
lon: -121.859563 deg,
deltaT: 16.388204 s,
deltaX: -46.011490 m,
approachRate: -2.807598 m/s,
posRepo size: 2
2025-09-20T20:20:43.967Z,1758399643.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:43.970Z,1758399643.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 146.738312 m,
bearing: 105.502813 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.141267 deg/s,
cmd heading: 105.581693 deg,
new cmd heading: 105.407927 deg.
2025-09-20T20:20:43.971Z,1758399643.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.839715 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:44.197Z,1758399644.197 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:44.448Z,1758399644.448 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:44.464Z,1758399644.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:44.466Z,1758399644.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:44.469Z,1758399644.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 146.999237 m,
bearing: 105.429623 deg,
approach rate: 0.514997 m/s,
LOS rate: -0.144202 deg/s,
cmd heading: 105.407926 deg,
new cmd heading: 105.261805 deg.
2025-09-20T20:20:44.470Z,1758399644.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.837165 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:44.704Z,1758399644.704 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:44.952Z,1758399644.952 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:44.963Z,1758399644.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:44.970Z,1758399644.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 147.237518 m,
bearing: 105.352192 deg,
approach rate: 0.480001 m/s,
LOS rate: -0.155726 deg/s,
cmd heading: 105.261807 deg,
new cmd heading: 105.107197 deg.
2025-09-20T20:20:44.975Z,1758399644.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.834467 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:45.204Z,1758399645.204 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:45.315Z,1758399645.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:45.321Z,1758399645.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 147.399872 m,
bearing: 105.297969 deg,
approach rate: 0.461276 m/s,
LOS rate: -0.153889 deg/s,
cmd heading: 105.107199 deg,
new cmd heading: 104.998872 deg.
2025-09-20T20:20:45.322Z,1758399645.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832576 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:45.456Z,1758399645.456 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:45.710Z,1758399645.710 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:45.814Z,1758399645.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:45.822Z,1758399645.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 147.615402 m,
bearing: 105.225213 deg,
approach rate: 0.431358 m/s,
LOS rate: -0.145398 deg/s,
cmd heading: 104.998873 deg,
new cmd heading: 104.853575 deg.
2025-09-20T20:20:45.824Z,1758399645.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830040 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:45.960Z,1758399645.960 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:46.172Z,1758399646.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:46.175Z,1758399646.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 147.802841 m,
bearing: 105.162173 deg,
approach rate: 0.523438 m/s,
LOS rate: -0.175823 deg/s,
cmd heading: 104.853574 deg,
new cmd heading: 104.727653 deg.
2025-09-20T20:20:46.176Z,1758399646.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827842 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:46.212Z,1758399646.212 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:46.464Z,1758399646.464 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:46.555Z,1758399646.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:46.557Z,1758399646.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:46.560Z,1758399646.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 147.975510 m,
bearing: 105.100555 deg,
approach rate: 0.448956 m/s,
LOS rate: -0.160024 deg/s,
cmd heading: 104.727653 deg,
new cmd heading: 104.604562 deg.
2025-09-20T20:20:46.561Z,1758399646.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825694 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:46.722Z,1758399646.722 [DAT](INFO): DAT read: Rx Time:20:20:48.9532
2025-09-20T20:20:46.724Z,1758399646.724 [DAT](INFO): Rx dataTimestamp_ set to:1758399646.722483
2025-09-20T20:20:46.725Z,1758399646.725 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:46.968Z,1758399646.968 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:47.013Z,1758399647.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.36 m.
2025-09-20T20:20:47.033Z,1758399647.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 146.358917 m,
nav range: 148.173645 m,
bearing: 105.032863 deg,
approach rate: 0.434685 m/s,
LOS rate: -0.148310 deg/s,
cmd heading: 104.604559 deg,
new cmd heading: 104.469355 deg.
2025-09-20T20:20:47.036Z,1758399647.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823334 target range: 146.358917 and range: 147.00 m.
2025-09-20T20:20:47.236Z,1758399647.236 [DAT](INFO): DAT read: 20:20:48.9532 LVL= 25056, 19777, 21842, 29171, AGC= 64, IDX= 444, 0.09,-2.115,-0.057,-0.589,-0.833, PHS=-1.180, 0.822, 0.200, RAW= 287.7, 1.8, CAL= 286.3, -3.3, ROT= 223.7, 3.3
2025-09-20T20:20:47.245Z,1758399647.245 [DAT](INFO): got valid direction response:
20:20:48.9532 LVL= 25056, 19777, 21842, 29171, AGC= 64, IDX= 444, 0.09,-2.115,-0.057,-0.589,-0.833, PHS=-1.180, 0.822, 0.200, RAW= 287.7, 1.8, CAL= 286.3, -3.3, ROT= 223.7, 3.3
2025-09-20T20:20:47.246Z,1758399647.246 [DAT](INFO): DAT read: Bearing 217.5, -43.7 (Local)
2025-09-20T20:20:47.246Z,1758399647.246 [DAT](INFO): Local bearing/azimuth received:
Bearing 217.5, -43.7 (Local)
2025-09-20T20:20:47.248Z,1758399647.248 [DAT](INFO): DAT read: Range 11 to 50 : 148.8 m (Round-trip 198.4 ms) speed -0.5 m/s
2025-09-20T20:20:47.250Z,1758399647.250 [DAT](INFO): DAT read: user:189>Tx time:20:20:50.0506
2025-09-20T20:20:47.250Z,1758399647.250 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:47.277Z,1758399647.277 [DAT](INFO): direction in FSK: [-0.721768,-0.689737,-0.057564]
2025-09-20T20:20:47.277Z,1758399647.277 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:47.297Z,1758399647.297 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:47.298Z,1758399647.298 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:47.393Z,1758399647.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 148.800003 m,
deltaT: 3.529547 s,
deltaX: 1.800003 m,
approachRate: 0.509981 m/s,
rangeRepo size: 3
2025-09-20T20:20:47.402Z,1758399647.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 148.150177 m,
bearing: 97.360577 deg,
lat: 36.779276 deg,
lon: -121.859528 deg,
deltaT: 3.529547 s,
deltaX: 1.791260 m,
approachRate: 0.507504 m/s,
posRepo size: 3
2025-09-20T20:20:47.402Z,1758399647.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:47.415Z,1758399647.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 151.379364 m,
bearing: 104.667267 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.148310 deg/s,
cmd heading: 104.469355 deg,
new cmd heading: 104.357144 deg.
2025-09-20T20:20:47.417Z,1758399647.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821376 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:47.472Z,1758399647.472 [DAT](INFO): DAT read:
2025-09-20T20:20:47.473Z,1758399647.473 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:47.726Z,1758399647.726 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:47.826Z,1758399647.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:47.828Z,1758399647.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 151.575653 m,
bearing: 104.599611 deg,
approach rate: 0.451823 m/s,
LOS rate: -0.155531 deg/s,
cmd heading: 104.357142 deg,
new cmd heading: 104.222005 deg.
2025-09-20T20:20:47.829Z,1758399647.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819017 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:47.976Z,1758399647.976 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:48.167Z,1758399648.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:48.170Z,1758399648.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 151.724182 m,
bearing: 104.546795 deg,
approach rate: 0.435071 m/s,
LOS rate: -0.154557 deg/s,
cmd heading: 104.222007 deg,
new cmd heading: 104.116478 deg.
2025-09-20T20:20:48.171Z,1758399648.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817175 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:48.229Z,1758399648.229 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:48.480Z,1758399648.480 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:48.583Z,1758399648.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:48.585Z,1758399648.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:48.588Z,1758399648.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 151.901627 m,
bearing: 104.481891 deg,
approach rate: 0.424277 m/s,
LOS rate: -0.155008 deg/s,
cmd heading: 104.116480 deg,
new cmd heading: 103.986824 deg.
2025-09-20T20:20:48.589Z,1758399648.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814912 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:48.735Z,1758399648.735 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:48.984Z,1758399648.984 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:49.035Z,1758399649.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:49.038Z,1758399649.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 152.089508 m,
bearing: 104.411124 deg,
approach rate: 0.445209 m/s,
LOS rate: -0.167484 deg/s,
cmd heading: 103.986823 deg,
new cmd heading: 103.845465 deg.
2025-09-20T20:20:49.047Z,1758399649.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812445 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:49.236Z,1758399649.236 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:49.427Z,1758399649.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:49.430Z,1758399649.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 152.260193 m,
bearing: 104.344985 deg,
approach rate: 0.410158 m/s,
LOS rate: -0.158754 deg/s,
cmd heading: 103.845465 deg,
new cmd heading: 103.713336 deg.
2025-09-20T20:20:49.435Z,1758399649.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810139 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:49.489Z,1758399649.489 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:49.743Z,1758399649.743 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:49.863Z,1758399649.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:49.869Z,1758399649.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 152.445618 m,
bearing: 104.275121 deg,
approach rate: 0.422123 m/s,
LOS rate: -0.158855 deg/s,
cmd heading: 103.713335 deg,
new cmd heading: 103.573776 deg.
2025-09-20T20:20:49.870Z,1758399649.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807703 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:49.992Z,1758399649.992 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:50.204Z,1758399650.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:50.207Z,1758399650.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 152.599854 m,
bearing: 104.215343 deg,
approach rate: 0.451082 m/s,
LOS rate: -0.174649 deg/s,
cmd heading: 103.573774 deg,
new cmd heading: 103.454341 deg.
2025-09-20T20:20:50.208Z,1758399650.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805619 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:50.244Z,1758399650.244 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:50.497Z,1758399650.497 [DAT](INFO): DAT read: Rx Time:20:20:52.6554
2025-09-20T20:20:50.497Z,1758399650.497 [DAT](INFO): Rx dataTimestamp_ set to:1758399650.496905
2025-09-20T20:20:50.498Z,1758399650.498 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:50.622Z,1758399650.622 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:50.624Z,1758399650.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 148.15 m.
2025-09-20T20:20:50.626Z,1758399650.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 148.150177 m,
nav range: 152.765213 m,
bearing: 104.149337 deg,
approach rate: 0.394276 m/s,
LOS rate: -0.157212 deg/s,
cmd heading: 103.454341 deg,
new cmd heading: 103.322472 deg.
2025-09-20T20:20:50.628Z,1758399650.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803317 target range: 148.150177 and range: 148.80 m.
2025-09-20T20:20:50.708Z,1758399650.708 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:20:50.752Z,1758399650.752 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:51.006Z,1758399651.006 [DAT](INFO): DAT read: 20:20:52.6554 LVL= 32752, 30417, 32754, 32755, AGC= 65, IDX= 452,-0.15,-0.800, 1.150, 1.135, 0.565, PHS=-1.263, 0.630, 0.526, RAW= 272.8, 1.2, CAL= 271.1, -4.4, ROT= 238.9, 4.4
2025-09-20T20:20:51.007Z,1758399651.007 [DAT](INFO): got valid direction response:
20:20:52.6554 LVL= 32752, 30417, 32754, 32755, AGC= 65, IDX= 452,-0.15,-0.800, 1.150, 1.135, 0.565, PHS=-1.263, 0.630, 0.526, RAW= 272.8, 1.2, CAL= 271.1, -4.4, ROT= 238.9, 4.4
2025-09-20T20:20:51.008Z,1758399651.008 [DAT](INFO): DAT read: Bearing 215.3, -57.5 (Local)
2025-09-20T20:20:51.008Z,1758399651.008 [DAT](INFO): Local bearing/azimuth received:
Bearing 215.3, -57.5 (Local)
2025-09-20T20:20:51.010Z,1758399651.010 [DAT](INFO): DAT read: Range 11 to 50 : 150.5 m (Round-trip 200.7 ms) speed -0.1 m/s
2025-09-20T20:20:51.011Z,1758399651.011 [DAT](INFO): DAT read: user:190>Tx time:20:20:53.7505
2025-09-20T20:20:51.012Z,1758399651.012 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:51.013Z,1758399651.013 [DAT](INFO): direction in FSK: [-0.515011,-0.853743,-0.076719]
2025-09-20T20:20:51.013Z,1758399651.013 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:51.016Z,1758399651.016 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:51.016Z,1758399651.016 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:51.155Z,1758399651.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 150.500000 m,
deltaT: 3.778073 s,
deltaX: 1.699997 m,
approachRate: 0.449964 m/s,
rangeRepo size: 4
2025-09-20T20:20:51.157Z,1758399651.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 149.842758 m,
bearing: 104.229619 deg,
lat: 36.779279 deg,
lon: -121.859528 deg,
deltaT: 3.778073 s,
deltaX: 1.692581 m,
approachRate: 0.448001 m/s,
posRepo size: 4
2025-09-20T20:20:51.158Z,1758399651.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:51.165Z,1758399651.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 152.891312 m,
bearing: 103.938288 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.157212 deg/s,
cmd heading: 103.322471 deg,
new cmd heading: 103.156862 deg.
2025-09-20T20:20:51.166Z,1758399651.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800427 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:51.253Z,1758399651.253 [DAT](INFO): DAT read:
2025-09-20T20:20:51.253Z,1758399651.253 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:51.504Z,1758399651.504 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:51.504Z,1758399651.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:51.508Z,1758399651.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.035385 m,
bearing: 103.877108 deg,
approach rate: 0.408943 m/s,
LOS rate: -0.173492 deg/s,
cmd heading: 103.156859 deg,
new cmd heading: 103.034615 deg.
2025-09-20T20:20:51.509Z,1758399651.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798293 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:51.711Z,1758399651.711 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:20:51.758Z,1758399651.758 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:51.956Z,1758399651.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:51.958Z,1758399651.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.204010 m,
bearing: 103.806055 deg,
approach rate: 0.372431 m/s,
LOS rate: -0.156758 deg/s,
cmd heading: 103.034613 deg,
new cmd heading: 102.892663 deg.
2025-09-20T20:20:51.959Z,1758399651.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795816 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:52.009Z,1758399652.009 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:52.260Z,1758399652.260 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:52.303Z,1758399652.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:52.306Z,1758399652.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.331512 m,
bearing: 103.750744 deg,
approach rate: 0.366784 m/s,
LOS rate: -0.158980 deg/s,
cmd heading: 102.892661 deg,
new cmd heading: 102.782131 deg.
2025-09-20T20:20:52.307Z,1758399652.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.793887 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:52.515Z,1758399652.515 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:52.714Z,1758399652.714 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:52.718Z,1758399652.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:52.720Z,1758399652.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.483032 m,
bearing: 103.685216 deg,
approach rate: 0.365689 m/s,
LOS rate: -0.157996 deg/s,
cmd heading: 102.782128 deg,
new cmd heading: 102.651200 deg.
2025-09-20T20:20:52.721Z,1758399652.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791601 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:52.765Z,1758399652.765 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:53.016Z,1758399653.016 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:53.131Z,1758399653.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:53.134Z,1758399653.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.618881 m,
bearing: 103.620988 deg,
approach rate: 0.328658 m/s,
LOS rate: -0.155247 deg/s,
cmd heading: 102.651200 deg,
new cmd heading: 102.522859 deg.
2025-09-20T20:20:53.135Z,1758399653.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789361 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:53.268Z,1758399653.268 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:53.516Z,1758399653.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:53.523Z,1758399653.523 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:53.539Z,1758399653.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.742691 m,
bearing: 103.560701 deg,
approach rate: 0.321342 m/s,
LOS rate: -0.156346 deg/s,
cmd heading: 102.522861 deg,
new cmd heading: 102.402384 deg.
2025-09-20T20:20:53.540Z,1758399653.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787259 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:53.779Z,1758399653.779 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:53.961Z,1758399653.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:53.963Z,1758399653.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.883514 m,
bearing: 103.485347 deg,
approach rate: 0.316962 m/s,
LOS rate: -0.169450 deg/s,
cmd heading: 102.402383 deg,
new cmd heading: 102.251813 deg.
2025-09-20T20:20:53.964Z,1758399653.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784631 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:54.028Z,1758399654.028 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:54.280Z,1758399654.280 [DAT](INFO): DAT read: Rx Time:20:20:56.3574
2025-09-20T20:20:54.281Z,1758399654.281 [DAT](INFO): Rx dataTimestamp_ set to:1758399654.280251
2025-09-20T20:20:54.281Z,1758399654.281 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:54.341Z,1758399654.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:54.348Z,1758399654.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 153.998642 m,
bearing: 103.421838 deg,
approach rate: 0.302686 m/s,
LOS rate: -0.166848 deg/s,
cmd heading: 102.251811 deg,
new cmd heading: 102.124890 deg.
2025-09-20T20:20:54.349Z,1758399654.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782416 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:54.532Z,1758399654.532 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:54.735Z,1758399654.735 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:54.737Z,1758399654.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.84 m.
2025-09-20T20:20:54.740Z,1758399654.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.842758 m,
nav range: 154.121307 m,
bearing: 103.352039 deg,
approach rate: 0.309474 m/s,
LOS rate: -0.175958 deg/s,
cmd heading: 102.124893 deg,
new cmd heading: 101.985405 deg.
2025-09-20T20:20:54.741Z,1758399654.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779981 target range: 149.842758 and range: 150.50 m.
2025-09-20T20:20:54.796Z,1758399654.796 [DAT](INFO): DAT read: 20:20:56.3574 LVL= 28544, 23873, 26962, 29683, AGC= 61, IDX= 440, 0.01, 2.280,-2.334,-1.810,-2.668, PHS=-1.233, 0.379, 0.815, RAW= 258.4, 0.4, CAL= 254.9, -3.2, ROT= 255.1, 3.2
2025-09-20T20:20:54.798Z,1758399654.798 [DAT](INFO): got valid direction response:
20:20:56.3574 LVL= 28544, 23873, 26962, 29683, AGC= 61, IDX= 440, 0.01, 2.280,-2.334,-1.810,-2.668, PHS=-1.233, 0.379, 0.815, RAW= 258.4, 0.4, CAL= 254.9, -3.2, ROT= 255.1, 3.2
2025-09-20T20:20:54.808Z,1758399654.808 [DAT](INFO): DAT read: Bearing 218.3, -72.7 (Local)
2025-09-20T20:20:54.810Z,1758399654.810 [DAT](INFO): Local bearing/azimuth received:
Bearing 218.3, -72.7 (Local)
2025-09-20T20:20:54.844Z,1758399654.844 [DAT](INFO): DAT read: Range 11 to 50 : 152.0 m (Round-trip 202.7 ms) speed -0.4 m/s
2025-09-20T20:20:54.853Z,1758399654.853 [DAT](INFO): DAT read: user:191>Tx time:20:20:57.4505
2025-09-20T20:20:54.856Z,1758399654.856 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:54.868Z,1758399654.868 [DAT](INFO): direction in FSK: [-0.256732,-0.964869,-0.055822]
2025-09-20T20:20:54.869Z,1758399654.869 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:54.900Z,1758399654.900 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:54.900Z,1758399654.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:55.036Z,1758399655.036 [DAT](INFO): DAT read:
2025-09-20T20:20:55.036Z,1758399655.036 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:55.181Z,1758399655.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 152.000000 m,
deltaT: 3.784432 s,
deltaX: 1.500000 m,
approachRate: 0.396361 m/s,
rangeRepo size: 4
2025-09-20T20:20:55.183Z,1758399655.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 151.335953 m,
bearing: 112.130064 deg,
lat: 36.779279 deg,
lon: -121.859563 deg,
deltaT: 3.784432 s,
deltaX: 1.493195 m,
approachRate: 0.394562 m/s,
posRepo size: 4
2025-09-20T20:20:55.184Z,1758399655.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:55.187Z,1758399655.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.174561 m,
bearing: 103.552966 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.175958 deg/s,
cmd heading: 101.985407 deg,
new cmd heading: 101.829412 deg.
2025-09-20T20:20:55.188Z,1758399655.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777259 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:55.289Z,1758399655.289 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:55.540Z,1758399655.540 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:55.548Z,1758399655.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:55.551Z,1758399655.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.272812 m,
bearing: 103.488440 deg,
approach rate: 0.267986 m/s,
LOS rate: -0.175885 deg/s,
cmd heading: 101.829412 deg,
new cmd heading: 101.700444 deg.
2025-09-20T20:20:55.552Z,1758399655.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775008 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:55.794Z,1758399655.794 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:55.978Z,1758399655.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:55.986Z,1758399655.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.383163 m,
bearing: 103.408497 deg,
approach rate: 0.255962 m/s,
LOS rate: -0.185294 deg/s,
cmd heading: 101.700444 deg,
new cmd heading: 101.540676 deg.
2025-09-20T20:20:55.987Z,1758399655.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772219 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:56.045Z,1758399656.045 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:56.296Z,1758399656.296 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:56.359Z,1758399656.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:56.362Z,1758399656.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.477844 m,
bearing: 103.337513 deg,
approach rate: 0.248606 m/s,
LOS rate: -0.186268 deg/s,
cmd heading: 101.540673 deg,
new cmd heading: 101.398793 deg.
2025-09-20T20:20:56.363Z,1758399656.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769743 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:56.548Z,1758399656.548 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:56.766Z,1758399656.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:56.770Z,1758399656.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:56.797Z,1758399656.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.575714 m,
bearing: 103.261531 deg,
approach rate: 0.238290 m/s,
LOS rate: -0.184877 deg/s,
cmd heading: 101.398796 deg,
new cmd heading: 101.246931 deg.
2025-09-20T20:20:56.798Z,1758399656.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767092 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:56.800Z,1758399656.800 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:57.052Z,1758399657.052 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:57.273Z,1758399657.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:57.276Z,1758399657.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.696426 m,
bearing: 103.168885 deg,
approach rate: 0.239804 m/s,
LOS rate: -0.183903 deg/s,
cmd heading: 101.246934 deg,
new cmd heading: 101.061789 deg.
2025-09-20T20:20:57.277Z,1758399657.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.763861 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:57.304Z,1758399657.304 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:57.556Z,1758399657.556 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:57.633Z,1758399657.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:57.636Z,1758399657.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.776672 m,
bearing: 103.102453 deg,
approach rate: 0.223044 m/s,
LOS rate: -0.184550 deg/s,
cmd heading: 101.061788 deg,
new cmd heading: 100.928994 deg.
2025-09-20T20:20:57.637Z,1758399657.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.761543 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:57.808Z,1758399657.808 [DAT](INFO): DAT read: Rx Time:20:21:00.0587
2025-09-20T20:20:57.809Z,1758399657.809 [DAT](INFO): Rx dataTimestamp_ set to:1758399657.808251
2025-09-20T20:20:57.809Z,1758399657.809 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:58.050Z,1758399658.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.34 m.
2025-09-20T20:20:58.058Z,1758399658.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.335953 m,
nav range: 151.872543 m,
bearing: 103.023853 deg,
approach rate: 0.229752 m/s,
LOS rate: -0.188245 deg/s,
cmd heading: 100.928995 deg,
new cmd heading: 100.771894 deg.
2025-09-20T20:20:58.064Z,1758399658.064 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:58.071Z,1758399658.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758801 target range: 151.335953 and range: 152.00 m.
2025-09-20T20:20:58.373Z,1758399658.373 [DAT](INFO): DAT read: 20:21:00.0587 LVL= 32384, 28625, 22562, 31507, AGC= 65, IDX= 454, 0.35,-0.894, 0.568, 1.267, 0.439, PHS=-1.231, 0.174, 0.785, RAW= 252.8, 3.1, CAL= 248.9, 1.7, ROT= 261.1, -1.7
2025-09-20T20:20:58.377Z,1758399658.377 [DAT](INFO): got valid direction response:
20:21:00.0587 LVL= 32384, 28625, 22562, 31507, AGC= 65, IDX= 454, 0.35,-0.894, 0.568, 1.267, 0.439, PHS=-1.231, 0.174, 0.785, RAW= 252.8, 3.1, CAL= 248.9, 1.7, ROT= 261.1, -1.7
2025-09-20T20:20:58.378Z,1758399658.378 [DAT](INFO): DAT read: Bearing 197.8, -79.9 (Local)
2025-09-20T20:20:58.379Z,1758399658.379 [DAT](INFO): Local bearing/azimuth received:
Bearing 197.8, -79.9 (Local)
2025-09-20T20:20:58.382Z,1758399658.382 [DAT](INFO): DAT read: Range 11 to 50 : 153.0 m (Round-trip 204.1 ms) speed -0.2 r:192>Tx time:20:21:01.1505
2025-09-20T20:20:58.384Z,1758399658.384 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:20:58.386Z,1758399658.386 [DAT](INFO): direction in FSK: [-0.154642,-0.987525,0.029666]
2025-09-20T20:20:58.386Z,1758399658.386 [DAT](INFO): publishing direction and range info
2025-09-20T20:20:58.414Z,1758399658.414 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:58.414Z,1758399658.414 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:20:58.513Z,1758399658.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 153.000000 m,
deltaT: 3.533268 s,
deltaX: 1.000000 m,
approachRate: 0.283024 m/s,
rangeRepo size: 4
2025-09-20T20:20:58.514Z,1758399658.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 152.333359 m,
bearing: 110.207605 deg,
lat: 36.779279 deg,
lon: -121.859563 deg,
deltaT: 3.533268 s,
deltaX: 0.997406 m,
approachRate: 0.282290 m/s,
posRepo size: 4
2025-09-20T20:20:58.519Z,1758399658.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:20:58.522Z,1758399658.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 151.971802 m,
bearing: 102.939419 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.188245 deg/s,
cmd heading: 100.771894 deg,
new cmd heading: 100.598099 deg.
2025-09-20T20:20:58.527Z,1758399658.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755768 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:20:58.568Z,1758399658.568 [DAT](INFO): DAT read:
2025-09-20T20:20:58.568Z,1758399658.568 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:58.820Z,1758399658.820 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:58.862Z,1758399658.862 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:20:58.866Z,1758399658.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:20:58.878Z,1758399658.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.049377 m,
bearing: 102.870943 deg,
approach rate: 0.220113 m/s,
LOS rate: -0.194192 deg/s,
cmd heading: 100.598100 deg,
new cmd heading: 100.461219 deg.
2025-09-20T20:20:58.883Z,1758399658.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753379 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:20:59.072Z,1758399659.072 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:59.284Z,1758399659.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:20:59.287Z,1758399659.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.140396 m,
bearing: 102.791703 deg,
approach rate: 0.216638 m/s,
LOS rate: -0.188490 deg/s,
cmd heading: 100.461216 deg,
new cmd heading: 100.302832 deg.
2025-09-20T20:20:59.288Z,1758399659.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750615 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:20:59.325Z,1758399659.325 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:59.576Z,1758399659.576 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:20:59.662Z,1758399659.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:20:59.665Z,1758399659.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.216644 m,
bearing: 102.722592 deg,
approach rate: 0.202066 m/s,
LOS rate: -0.183061 deg/s,
cmd heading: 100.302831 deg,
new cmd heading: 100.164677 deg.
2025-09-20T20:20:59.666Z,1758399659.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748203 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:20:59.828Z,1758399659.828 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:00.080Z,1758399660.080 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:00.086Z,1758399660.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:21:00.089Z,1758399660.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.308655 m,
bearing: 102.641170 deg,
approach rate: 0.216837 m/s,
LOS rate: -0.191767 deg/s,
cmd heading: 100.164676 deg,
new cmd heading: 100.001932 deg.
2025-09-20T20:21:00.090Z,1758399660.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745363 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:21:00.332Z,1758399660.332 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:00.469Z,1758399660.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:21:00.488Z,1758399660.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.388229 m,
bearing: 102.567814 deg,
approach rate: 0.207955 m/s,
LOS rate: -0.191605 deg/s,
cmd heading: 100.001933 deg,
new cmd heading: 99.855297 deg.
2025-09-20T20:21:00.489Z,1758399660.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742804 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:21:00.585Z,1758399660.585 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:00.836Z,1758399660.836 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:00.925Z,1758399660.925 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:00.950Z,1758399660.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:21:00.964Z,1758399660.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.471024 m,
bearing: 102.488106 deg,
approach rate: 0.172325 m/s,
LOS rate: -0.165811 deg/s,
cmd heading: 99.855296 deg,
new cmd heading: 99.695967 deg.
2025-09-20T20:21:00.965Z,1758399660.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740023 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:21:01.088Z,1758399661.088 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:01.340Z,1758399661.340 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:01.358Z,1758399661.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:21:01.364Z,1758399661.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.567032 m,
bearing: 102.396800 deg,
approach rate: 0.234698 m/s,
LOS rate: -0.223062 deg/s,
cmd heading: 99.695968 deg,
new cmd heading: 99.513473 deg.
2025-09-20T20:21:01.366Z,1758399661.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736838 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:21:01.593Z,1758399661.593 [DAT](INFO): DAT read: Rx Time:20:21:03.7599
2025-09-20T20:21:01.593Z,1758399661.593 [DAT](INFO): Rx dataTimestamp_ set to:1758399661.592814
2025-09-20T20:21:01.593Z,1758399661.593 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:01.740Z,1758399661.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.33 m.
2025-09-20T20:21:01.743Z,1758399661.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.333359 m,
nav range: 152.641205 m,
bearing: 102.323093 deg,
approach rate: 0.194137 m/s,
LOS rate: -0.192824 deg/s,
cmd heading: 99.513472 deg,
new cmd heading: 99.366130 deg.
2025-09-20T20:21:01.744Z,1758399661.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734266 target range: 152.333359 and range: 153.00 m.
2025-09-20T20:21:01.844Z,1758399661.844 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:02.102Z,1758399662.102 [DAT](INFO): DAT read: 20:21:03.7599 LVL= 32752, 27217, 22242, 28627, AGC= 63, IDX= 434, 0.05,-2.278,-1.052,-0.122,-0.968, PHS=-1.207,-0.038, 0.802, RAW= 245.4, 5.1, CAL= 243.2, 5.5, ROT= 266.8, -5.5
2025-09-20T20:21:02.103Z,1758399662.103 [DAT](INFO): got valid direction response:
20:21:03.7599 LVL= 32752, 27217, 22242, 28627, AGC= 63, IDX= 434, 0.05,-2.278,-1.052,-0.122,-0.968, PHS=-1.207,-0.038, 0.802, RAW= 245.4, 5.1, CAL= 243.2, 5.5, ROT= 266.8, -5.5
2025-09-20T20:21:02.104Z,1758399662.104 [DAT](INFO): DAT read: Bearing 156.0, -85.6 (Local)
2025-09-20T20:21:02.105Z,1758399662.105 [DAT](INFO): Local bearing/azimuth received:
Bearing 156.0, -85.6 (Local)
2025-09-20T20:21:02.106Z,1758399662.106 [DAT](INFO): DAT read: Range 11 to 50 : 153.9 m (Round-trip 205.2 ms) speed 0.0 m/s
2025-09-20T20:21:02.115Z,1758399662.115 [DAT](INFO): DAT read: user:193>Tx time:20:21:04.8505
2025-09-20T20:21:02.116Z,1758399662.116 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:02.117Z,1758399662.117 [DAT](INFO): direction in FSK: [-0.055565,-0.993844,0.095846]
2025-09-20T20:21:02.117Z,1758399662.117 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:02.129Z,1758399662.129 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:02.129Z,1758399662.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:02.248Z,1758399662.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 153.899994 m,
deltaT: 3.778203 s,
deltaX: 0.899994 m,
approachRate: 0.238207 m/s,
rangeRepo size: 4
2025-09-20T20:21:02.250Z,1758399662.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 153.228928 m,
bearing: 106.854625 deg,
lat: 36.779177 deg,
lon: -121.859617 deg,
deltaT: 3.778203 s,
deltaX: 0.895569 m,
approachRate: 0.237036 m/s,
posRepo size: 4
2025-09-20T20:21:02.250Z,1758399662.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:02.257Z,1758399662.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 150.977570 m,
bearing: 106.854099 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.192824 deg/s,
cmd heading: 99.366132 deg,
new cmd heading: 99.172420 deg.
2025-09-20T20:21:02.258Z,1758399662.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.730885 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:02.349Z,1758399662.349 [DAT](INFO): DAT read:
2025-09-20T20:21:02.349Z,1758399662.349 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:02.598Z,1758399662.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:02.600Z,1758399662.600 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:02.602Z,1758399662.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.021667 m,
bearing: 106.786348 deg,
approach rate: 0.125250 m/s,
LOS rate: -0.192376 deg/s,
cmd heading: 99.172421 deg,
new cmd heading: 99.036958 deg.
2025-09-20T20:21:02.603Z,1758399662.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728521 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:02.853Z,1758399662.853 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:03.039Z,1758399663.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:03.041Z,1758399663.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:03.060Z,1758399663.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.076614 m,
bearing: 106.695405 deg,
approach rate: 0.123028 m/s,
LOS rate: -0.203550 deg/s,
cmd heading: 99.036957 deg,
new cmd heading: 98.855138 deg.
2025-09-20T20:21:03.061Z,1758399663.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725348 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:03.104Z,1758399663.104 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:03.357Z,1758399663.357 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:03.428Z,1758399663.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:03.433Z,1758399663.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.118118 m,
bearing: 106.622087 deg,
approach rate: 0.107230 m/s,
LOS rate: -0.189373 deg/s,
cmd heading: 98.855138 deg,
new cmd heading: 98.708542 deg.
2025-09-20T20:21:03.434Z,1758399663.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.722789 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:03.608Z,1758399663.608 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:03.807Z,1758399663.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:03.810Z,1758399663.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.159103 m,
bearing: 106.544037 deg,
approach rate: 0.108310 m/s,
LOS rate: -0.206205 deg/s,
cmd heading: 98.708542 deg,
new cmd heading: 98.552484 deg.
2025-09-20T20:21:03.811Z,1758399663.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720065 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:03.861Z,1758399663.861 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:04.112Z,1758399664.112 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:04.219Z,1758399664.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:04.221Z,1758399664.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.189316 m,
bearing: 106.465861 deg,
approach rate: 0.073368 m/s,
LOS rate: -0.189804 deg/s,
cmd heading: 98.552485 deg,
new cmd heading: 98.396166 deg.
2025-09-20T20:21:04.222Z,1758399664.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717337 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:04.365Z,1758399664.365 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:04.597Z,1758399664.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:04.600Z,1758399664.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.214294 m,
bearing: 106.393851 deg,
approach rate: 0.066028 m/s,
LOS rate: -0.190319 deg/s,
cmd heading: 98.396163 deg,
new cmd heading: 98.252167 deg.
2025-09-20T20:21:04.601Z,1758399664.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714824 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:04.618Z,1758399664.618 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:04.868Z,1758399664.868 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:05.077Z,1758399665.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:05.079Z,1758399665.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:05.081Z,1758399665.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.251343 m,
bearing: 106.302422 deg,
approach rate: 0.076910 m/s,
LOS rate: -0.189753 deg/s,
cmd heading: 98.252169 deg,
new cmd heading: 98.069356 deg.
2025-09-20T20:21:05.082Z,1758399665.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711633 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:05.120Z,1758399665.120 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:05.373Z,1758399665.373 [DAT](INFO): DAT read: Rx Time:20:21:07.4608
2025-09-20T20:21:05.374Z,1758399665.374 [DAT](INFO): Rx dataTimestamp_ set to:1758399665.373221
2025-09-20T20:21:05.374Z,1758399665.374 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:05.425Z,1758399665.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:05.428Z,1758399665.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.278320 m,
bearing: 106.236458 deg,
approach rate: 0.077886 m/s,
LOS rate: -0.190408 deg/s,
cmd heading: 98.069359 deg,
new cmd heading: 97.937455 deg.
2025-09-20T20:21:05.429Z,1758399665.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709331 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:05.624Z,1758399665.624 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:05.818Z,1758399665.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.23 m.
2025-09-20T20:21:05.820Z,1758399665.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.228928 m,
nav range: 151.302719 m,
bearing: 106.161586 deg,
approach rate: 0.062159 m/s,
LOS rate: -0.190714 deg/s,
cmd heading: 97.937454 deg,
new cmd heading: 97.787735 deg.
2025-09-20T20:21:05.821Z,1758399665.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706718 target range: 153.228928 and range: 153.90 m.
2025-09-20T20:21:05.887Z,1758399665.887 [DAT](INFO): DAT read: 20:21:07.4608 LVL= 30320, 27105, 19698, 29427, AGC= 64, IDX= 444,-0.23, 1.811, 2.900,-2.203, 3.077, PHS=-1.164,-0.132, 0.959, RAW= 239.1, 3.7, CAL= 236.8, 4.4, ROT= 273.2, -4.4
2025-09-20T20:21:05.888Z,1758399665.888 [DAT](INFO): got valid direction response:
20:21:07.4608 LVL= 30320, 27105, 19698, 29427, AGC= 64, IDX= 444,-0.23, 1.811, 2.900,-2.203, 3.077, PHS=-1.164,-0.132, 0.959, RAW= 239.1, 3.7, CAL= 236.8, 4.4, ROT= 273.2, -4.4
2025-09-20T20:21:05.890Z,1758399665.890 [DAT](INFO): DAT read: Bearing 343.7, -88.0 (Local)
2025-09-20T20:21:05.890Z,1758399665.890 [DAT](INFO): Local bearing/azimuth received:
Bearing 343.7, -88.0 (Local)
2025-09-20T20:21:05.893Z,1758399665.893 [DAT](INFO): DAT read: Range 11 to 50 : 154.5 m (Round-trip 206.1 ms) speed -0.1 m/s
2025-09-20T20:21:05.894Z,1758399665.894 [DAT](INFO): DAT read: user:194>Tx time:20:21:08.5505
2025-09-20T20:21:05.897Z,1758399665.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:05.899Z,1758399665.899 [DAT](INFO): direction in FSK: [0.055657,-0.995498,0.076719]
2025-09-20T20:21:05.899Z,1758399665.899 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:05.918Z,1758399665.918 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:05.918Z,1758399665.918 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:06.128Z,1758399666.128 [DAT](INFO): DAT read:
2025-09-20T20:21:06.128Z,1758399666.128 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:06.253Z,1758399666.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.500000 m,
deltaT: 3.781538 s,
deltaX: 0.600006 m,
approachRate: 0.158667 m/s,
rangeRepo size: 4
2025-09-20T20:21:06.255Z,1758399666.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 153.826920 m,
bearing: 104.128718 deg,
lat: 36.779177 deg,
lon: -121.859617 deg,
deltaT: 3.781538 s,
deltaX: 0.597992 m,
approachRate: 0.158135 m/s,
posRepo size: 4
2025-09-20T20:21:06.256Z,1758399666.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:06.258Z,1758399666.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.317200 m,
bearing: 106.077313 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.190714 deg/s,
cmd heading: 97.787736 deg,
new cmd heading: 97.621865 deg.
2025-09-20T20:21:06.276Z,1758399666.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.703823 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:06.381Z,1758399666.381 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:06.626Z,1758399666.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:06.629Z,1758399666.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.327057 m,
bearing: 106.003426 deg,
approach rate: 0.026365 m/s,
LOS rate: -0.197613 deg/s,
cmd heading: 97.621865 deg,
new cmd heading: 97.474103 deg.
2025-09-20T20:21:06.630Z,1758399666.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701244 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:06.632Z,1758399666.632 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:06.884Z,1758399666.884 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:07.108Z,1758399667.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:07.110Z,1758399667.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:07.113Z,1758399667.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.327011 m,
bearing: 105.909905 deg,
approach rate: -0.000095 m/s,
LOS rate: -0.193218 deg/s,
cmd heading: 97.474101 deg,
new cmd heading: 97.287058 deg.
2025-09-20T20:21:07.114Z,1758399667.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697979 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:07.136Z,1758399667.136 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:07.388Z,1758399667.388 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:07.468Z,1758399667.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:07.471Z,1758399667.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.324493 m,
bearing: 105.843693 deg,
approach rate: -0.007029 m/s,
LOS rate: -0.184866 deg/s,
cmd heading: 97.287056 deg,
new cmd heading: 97.154632 deg.
2025-09-20T20:21:07.472Z,1758399667.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695668 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:07.640Z,1758399667.640 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:07.872Z,1758399667.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:07.892Z,1758399667.892 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:07.896Z,1758399667.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.318329 m,
bearing: 105.764091 deg,
approach rate: -0.015314 m/s,
LOS rate: -0.197758 deg/s,
cmd heading: 97.154632 deg,
new cmd heading: 96.995422 deg.
2025-09-20T20:21:07.897Z,1758399667.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692889 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:08.144Z,1758399668.144 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:08.282Z,1758399668.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:08.285Z,1758399668.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.305939 m,
bearing: 105.684352 deg,
approach rate: -0.030126 m/s,
LOS rate: -0.193897 deg/s,
cmd heading: 96.995421 deg,
new cmd heading: 96.835931 deg.
2025-09-20T20:21:08.286Z,1758399668.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.690106 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:08.396Z,1758399668.396 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:08.648Z,1758399668.648 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:08.667Z,1758399668.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:08.670Z,1758399668.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.291641 m,
bearing: 105.610946 deg,
approach rate: -0.037180 m/s,
LOS rate: -0.190910 deg/s,
cmd heading: 96.835929 deg,
new cmd heading: 96.689102 deg.
2025-09-20T20:21:08.671Z,1758399668.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687543 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:08.901Z,1758399668.901 [DAT](INFO): DAT read: Rx Time:20:21:11.1613
2025-09-20T20:21:08.901Z,1758399668.901 [DAT](INFO): Rx dataTimestamp_ set to:1758399668.901101
2025-09-20T20:21:08.902Z,1758399668.902 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:09.144Z,1758399669.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:09.146Z,1758399669.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:09.149Z,1758399669.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.274017 m,
bearing: 105.514760 deg,
approach rate: -0.036745 m/s,
LOS rate: -0.200566 deg/s,
cmd heading: 96.689100 deg,
new cmd heading: 96.496708 deg.
2025-09-20T20:21:09.150Z,1758399669.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684185 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:09.152Z,1758399669.152 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:09.406Z,1758399669.406 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:09.481Z,1758399669.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.83 m.
2025-09-20T20:21:09.484Z,1758399669.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.826920 m,
nav range: 151.256271 m,
bearing: 105.447696 deg,
approach rate: -0.053075 m/s,
LOS rate: -0.200601 deg/s,
cmd heading: 96.496708 deg,
new cmd heading: 96.362564 deg.
2025-09-20T20:21:09.485Z,1758399669.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681844 target range: 153.826920 and range: 154.50 m.
2025-09-20T20:21:09.662Z,1758399669.662 [DAT](INFO): DAT read: 20:21:11.1613 LVL= 27184, 20689, 16114, 25219, AGC= 62, IDX= 432,-0.10,-0.852, 0.097, 1.400, 0.316, PHS=-1.066,-0.174, 1.041, RAW= 235.0, 2.2, CAL= 232.3, 2.9, ROT= 277.7, -2.9
2025-09-20T20:21:09.673Z,1758399669.673 [DAT](INFO): got valid direction response:
20:21:11.1613 LVL= 27184, 20689, 16114, 25219, AGC= 62, IDX= 432,-0.10,-0.852, 0.097, 1.400, 0.316, PHS=-1.066,-0.174, 1.041, RAW= 235.0, 2.2, CAL= 232.3, 2.9, ROT= 277.7, -2.9
2025-09-20T20:21:09.674Z,1758399669.674 [DAT](INFO): DAT read: Bearing 326.3, -83.5 (Local)
2025-09-20T20:21:09.674Z,1758399669.674 [DAT](INFO): Local bearing/azimuth received:
Bearing 326.3, -83.5 (Local)
2025-09-20T20:21:09.676Z,1758399669.676 [DAT](INFO): DAT read: Range 11 to 50 : 154.9 m (Round-trip 206.6 ms) speed 0.1 m/s
2025-09-20T20:21:09.677Z,1758399669.677 [DAT](INFO): DAT read: user:195>Tx time:20:21:12.2505
2025-09-20T20:21:09.677Z,1758399669.677 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:09.678Z,1758399669.678 [DAT](INFO): direction in FSK: [0.133815,-0.989714,0.050593]
2025-09-20T20:21:09.679Z,1758399669.679 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:09.699Z,1758399669.699 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:09.699Z,1758399669.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:09.908Z,1758399669.908 [DAT](INFO): DAT read:
2025-09-20T20:21:09.908Z,1758399669.908 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:09.909Z,1758399669.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.899994 m,
deltaT: 3.778793 s,
deltaX: 0.399994 m,
approachRate: 0.105852 m/s,
rangeRepo size: 4
2025-09-20T20:21:09.911Z,1758399669.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 154.224716 m,
bearing: 100.386990 deg,
lat: 36.779177 deg,
lon: -121.859617 deg,
deltaT: 3.778793 s,
deltaX: 0.397797 m,
approachRate: 0.105271 m/s,
posRepo size: 4
2025-09-20T20:21:09.912Z,1758399669.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:09.914Z,1758399669.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.230637 m,
bearing: 105.363455 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.200601 deg/s,
cmd heading: 96.362563 deg,
new cmd heading: 96.191817 deg.
2025-09-20T20:21:09.916Z,1758399669.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678864 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:10.160Z,1758399670.160 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:10.314Z,1758399670.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:10.317Z,1758399670.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.207504 m,
bearing: 105.284158 deg,
approach rate: -0.056782 m/s,
LOS rate: -0.194678 deg/s,
cmd heading: 96.191815 deg,
new cmd heading: 96.033197 deg.
2025-09-20T20:21:10.318Z,1758399670.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.676095 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:10.413Z,1758399670.413 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:10.664Z,1758399670.664 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:10.709Z,1758399670.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:10.715Z,1758399670.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.180222 m,
bearing: 105.211441 deg,
approach rate: -0.069094 m/s,
LOS rate: -0.184189 deg/s,
cmd heading: 96.033197 deg,
new cmd heading: 95.887738 deg.
2025-09-20T20:21:10.716Z,1758399670.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673557 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:10.916Z,1758399670.916 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:11.157Z,1758399671.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:11.159Z,1758399671.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:11.162Z,1758399671.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.146088 m,
bearing: 105.121741 deg,
approach rate: -0.075797 m/s,
LOS rate: -0.199232 deg/s,
cmd heading: 95.887742 deg,
new cmd heading: 95.708301 deg.
2025-09-20T20:21:11.163Z,1758399671.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670425 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:11.168Z,1758399671.168 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:11.420Z,1758399671.420 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:11.536Z,1758399671.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:11.543Z,1758399671.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.120117 m,
bearing: 105.052840 deg,
approach rate: -0.068837 m/s,
LOS rate: -0.182660 deg/s,
cmd heading: 95.708299 deg,
new cmd heading: 95.570473 deg.
2025-09-20T20:21:11.544Z,1758399671.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668019 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:11.672Z,1758399671.672 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:11.924Z,1758399671.924 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:11.925Z,1758399671.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:11.927Z,1758399671.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.085587 m,
bearing: 104.977998 deg,
approach rate: -0.093122 m/s,
LOS rate: -0.201879 deg/s,
cmd heading: 95.570473 deg,
new cmd heading: 95.420756 deg.
2025-09-20T20:21:11.928Z,1758399671.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665406 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:12.176Z,1758399672.176 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:12.349Z,1758399672.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:12.358Z,1758399672.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.044952 m,
bearing: 104.900367 deg,
approach rate: -0.092105 m/s,
LOS rate: -0.176012 deg/s,
cmd heading: 95.420755 deg,
new cmd heading: 95.265452 deg.
2025-09-20T20:21:12.362Z,1758399672.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662696 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:12.429Z,1758399672.429 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:12.680Z,1758399672.680 [DAT](INFO): DAT read: Rx Time:20:21:14.8612
2025-09-20T20:21:12.680Z,1758399672.680 [DAT](INFO): Rx dataTimestamp_ set to:1758399672.680123
2025-09-20T20:21:12.681Z,1758399672.681 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:12.759Z,1758399672.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.22 m.
2025-09-20T20:21:12.763Z,1758399672.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.224716 m,
nav range: 151.004532 m,
bearing: 104.822595 deg,
approach rate: -0.098577 m/s,
LOS rate: -0.189722 deg/s,
cmd heading: 95.265450 deg,
new cmd heading: 95.109863 deg.
2025-09-20T20:21:12.765Z,1758399672.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659980 target range: 154.224716 and range: 154.90 m.
2025-09-20T20:21:12.932Z,1758399672.932 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:13.190Z,1758399673.190 [DAT](INFO): DAT read: 20:21:14.8612 LVL= 21488, 18113, 14674, 18451, AGC= 61, IDX= 447,-0.23,-2.680,-2.090,-0.393,-1.733, PHS=-0.845,-0.312, 1.296, RAW= 223.8, -1.5, CAL= 221.5, -2.2, ROT= 288.5, 2.2
2025-09-20T20:21:13.191Z,1758399673.191 [DAT](INFO): got valid direction response:
20:21:14.8612 LVL= 21488, 18113, 14674, 18451, AGC= 61, IDX= 447,-0.23,-2.680,-2.090,-0.393,-1.733, PHS=-0.845,-0.312, 1.296, RAW= 223.8, -1.5, CAL= 221.5, -2.2, ROT= 288.5, 2.2
2025-09-20T20:21:13.192Z,1758399673.192 [DAT](INFO): DAT read: Bearing 309.0, -71.8 (Local)
2025-09-20T20:21:13.192Z,1758399673.192 [DAT](INFO): Local bearing/azimuth received:
Bearing 309.0, -71.8 (Local)
2025-09-20T20:21:13.194Z,1758399673.194 [DAT](INFO): DAT read: Range 11 to 50 : 154.8 m (Round-trip 206.5 ms) speed 0.1 m/s
2025-09-20T20:21:13.196Z,1758399673.196 [DAT](INFO): DAT read: user:196>Tx time:20:21:15.9505
2025-09-20T20:21:13.196Z,1758399673.196 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:13.197Z,1758399673.197 [DAT](INFO): direction in FSK: [0.317071,-0.947625,-0.038388]
2025-09-20T20:21:13.197Z,1758399673.197 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:13.201Z,1758399673.201 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:13.201Z,1758399673.201 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:13.213Z,1758399673.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.800003 m,
deltaT: 3.527744 s,
deltaX: -0.099991 m,
approachRate: -0.028344 m/s,
rangeRepo size: 4
2025-09-20T20:21:13.216Z,1758399673.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 154.125168 m,
bearing: 103.532238 deg,
lat: 36.779198 deg,
lon: -121.859592 deg,
deltaT: 3.527744 s,
deltaX: -0.099548 m,
approachRate: -0.028219 m/s,
posRepo size: 4
2025-09-20T20:21:13.216Z,1758399673.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:13.235Z,1758399673.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.506958 m,
bearing: 103.676045 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.189722 deg/s,
cmd heading: 95.109865 deg,
new cmd heading: 94.937403 deg.
2025-09-20T20:21:13.236Z,1758399673.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656970 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:13.441Z,1758399673.441 [DAT](INFO): DAT read:
2025-09-20T20:21:13.444Z,1758399673.444 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:13.597Z,1758399673.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:13.603Z,1758399673.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:13.606Z,1758399673.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.465698 m,
bearing: 103.605877 deg,
approach rate: -0.106884 m/s,
LOS rate: -0.181821 deg/s,
cmd heading: 94.937403 deg,
new cmd heading: 94.797029 deg.
2025-09-20T20:21:13.607Z,1758399673.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.654520 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:13.688Z,1758399673.688 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:13.940Z,1758399673.940 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:13.979Z,1758399673.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:13.982Z,1758399673.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.423050 m,
bearing: 103.538218 deg,
approach rate: -0.112125 m/s,
LOS rate: -0.177928 deg/s,
cmd heading: 94.797029 deg,
new cmd heading: 94.661674 deg.
2025-09-20T20:21:13.983Z,1758399673.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652158 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:14.193Z,1758399674.193 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:14.410Z,1758399674.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:14.413Z,1758399674.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.370956 m,
bearing: 103.461684 deg,
approach rate: -0.120951 m/s,
LOS rate: -0.177758 deg/s,
cmd heading: 94.661675 deg,
new cmd heading: 94.508555 deg.
2025-09-20T20:21:14.414Z,1758399674.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.649485 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:14.444Z,1758399674.444 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:14.696Z,1758399674.696 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:14.808Z,1758399674.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:14.811Z,1758399674.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.323013 m,
bearing: 103.390828 deg,
approach rate: -0.120386 m/s,
LOS rate: -0.177976 deg/s,
cmd heading: 94.508556 deg,
new cmd heading: 94.366800 deg.
2025-09-20T20:21:14.812Z,1758399674.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.647011 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:14.948Z,1758399674.948 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:15.200Z,1758399675.200 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:15.236Z,1758399675.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:15.243Z,1758399675.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.258713 m,
bearing: 103.316375 deg,
approach rate: -0.150186 m/s,
LOS rate: -0.173974 deg/s,
cmd heading: 94.366802 deg,
new cmd heading: 94.217832 deg.
2025-09-20T20:21:15.244Z,1758399675.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644411 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:15.452Z,1758399675.452 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:15.602Z,1758399675.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:15.605Z,1758399675.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:15.607Z,1758399675.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.195999 m,
bearing: 103.247298 deg,
approach rate: -0.170256 m/s,
LOS rate: -0.187608 deg/s,
cmd heading: 94.217836 deg,
new cmd heading: 94.079626 deg.
2025-09-20T20:21:15.608Z,1758399675.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.641999 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:15.705Z,1758399675.705 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:15.956Z,1758399675.956 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:16.014Z,1758399676.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:16.017Z,1758399676.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.129532 m,
bearing: 103.177366 deg,
approach rate: -0.162456 m/s,
LOS rate: -0.171001 deg/s,
cmd heading: 94.079627 deg,
new cmd heading: 93.939700 deg.
2025-09-20T20:21:16.017Z,1758399676.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639557 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:16.209Z,1758399676.209 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:16.434Z,1758399676.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:16.440Z,1758399676.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 152.059189 m,
bearing: 103.105616 deg,
approach rate: -0.167487 m/s,
LOS rate: -0.170913 deg/s,
cmd heading: 93.939703 deg,
new cmd heading: 93.796139 deg.
2025-09-20T20:21:16.441Z,1758399676.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637051 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:16.460Z,1758399676.460 [DAT](INFO): DAT read: Rx Time:20:21:18.5609
2025-09-20T20:21:16.461Z,1758399676.461 [DAT](INFO): Rx dataTimestamp_ set to:1758399676.460308
2025-09-20T20:21:16.461Z,1758399676.461 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:16.715Z,1758399676.715 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:16.861Z,1758399676.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.13 m.
2025-09-20T20:21:16.880Z,1758399676.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 154.125168 m,
nav range: 151.983231 m,
bearing: 103.031392 deg,
approach rate: -0.177665 m/s,
LOS rate: -0.173697 deg/s,
cmd heading: 93.796140 deg,
new cmd heading: 93.647616 deg.
2025-09-20T20:21:16.881Z,1758399676.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634459 target range: 154.125168 and range: 154.80 m.
2025-09-20T20:21:16.970Z,1758399676.970 [DAT](INFO): DAT read: 20:21:18.5609 LVL= 20688, 22257, 17026, 19235, AGC= 62, IDX= 444, 0.01, 0.956, 1.232,-3.014, 1.796, PHS=-0.738,-0.519, 1.429, RAW= 215.2, -1.7, CAL= 213.9, -3.4, ROT= 296.1, 3.4
2025-09-20T20:21:16.971Z,1758399676.971 [DAT](INFO): got valid direction response:
20:21:18.5609 LVL= 20688, 22257, 17026, 19235, AGC= 62, IDX= 444, 0.01, 0.956, 1.232,-3.014, 1.796, PHS=-0.738,-0.519, 1.429, RAW= 215.2, -1.7, CAL= 213.9, -3.4, ROT= 296.1, 3.4
2025-09-20T20:21:16.972Z,1758399676.972 [DAT](INFO): DAT read: Bearing 303.8, -64.4 (Local)
2025-09-20T20:21:16.972Z,1758399676.972 [DAT](INFO): Local bearing/azimuth received:
Bearing 303.8, -64.4 (Local)
2025-09-20T20:21:16.974Z,1758399676.974 [DAT](INFO): DAT read: Range 11 to 50 : 154.6 m (Round-trip 206.2 ms) speed 0.0 m/s
2025-09-20T20:21:16.975Z,1758399676.975 [DAT](INFO): DAT read: user:197>Tx time:20:21:19.6505
2025-09-20T20:21:16.975Z,1758399676.975 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:16.976Z,1758399676.976 [DAT](INFO): direction in FSK: [0.439165,-0.896447,-0.059306]
2025-09-20T20:21:16.977Z,1758399676.977 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:16.988Z,1758399676.988 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:16.988Z,1758399676.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:17.216Z,1758399677.216 [DAT](INFO): DAT read:
2025-09-20T20:21:17.216Z,1758399677.216 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:17.428Z,1758399677.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.600006 m,
deltaT: 3.780037 s,
deltaX: -0.199997 m,
approachRate: -0.052909 m/s,
rangeRepo size: 4
2025-09-20T20:21:17.430Z,1758399677.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 153.926315 m,
bearing: 100.984305 deg,
lat: 36.779219 deg,
lon: -121.859573 deg,
deltaT: 3.780037 s,
deltaX: -0.198853 m,
approachRate: -0.052606 m/s,
posRepo size: 4
2025-09-20T20:21:17.430Z,1758399677.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:17.441Z,1758399677.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.967728 m,
bearing: 101.931605 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.173697 deg/s,
cmd heading: 93.647617 deg,
new cmd heading: 93.451095 deg.
2025-09-20T20:21:17.442Z,1758399677.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631029 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:17.468Z,1758399677.468 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:17.720Z,1758399677.720 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:17.920Z,1758399677.920 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:17.922Z,1758399677.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:17.925Z,1758399677.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.869629 m,
bearing: 101.847452 deg,
approach rate: -0.198138 m/s,
LOS rate: -0.170079 deg/s,
cmd heading: 93.451092 deg,
new cmd heading: 93.282679 deg.
2025-09-20T20:21:17.926Z,1758399677.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.628090 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:17.972Z,1758399677.972 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:18.224Z,1758399678.224 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:18.417Z,1758399678.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:18.436Z,1758399678.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.763382 m,
bearing: 101.765120 deg,
approach rate: -0.214658 m/s,
LOS rate: -0.166456 deg/s,
cmd heading: 93.282680 deg,
new cmd heading: 93.117902 deg.
2025-09-20T20:21:18.437Z,1758399678.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625214 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:18.479Z,1758399678.479 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:18.729Z,1758399678.729 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:18.824Z,1758399678.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:18.829Z,1758399678.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.674255 m,
bearing: 101.698512 deg,
approach rate: -0.219194 m/s,
LOS rate: -0.163909 deg/s,
cmd heading: 93.117902 deg,
new cmd heading: 92.984608 deg.
2025-09-20T20:21:18.832Z,1758399678.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.622888 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:18.980Z,1758399678.980 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:19.232Z,1758399679.232 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:19.393Z,1758399679.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:19.399Z,1758399679.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.550919 m,
bearing: 101.608450 deg,
approach rate: -0.216777 m/s,
LOS rate: -0.158420 deg/s,
cmd heading: 92.984611 deg,
new cmd heading: 92.804343 deg.
2025-09-20T20:21:19.400Z,1758399679.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.619741 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:19.485Z,1758399679.485 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:19.736Z,1758399679.736 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:19.748Z,1758399679.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:19.750Z,1758399679.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.461517 m,
bearing: 101.549926 deg,
approach rate: -0.251839 m/s,
LOS rate: -0.164956 deg/s,
cmd heading: 92.804342 deg,
new cmd heading: 92.687225 deg.
2025-09-20T20:21:19.780Z,1758399679.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617697 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:19.988Z,1758399679.988 [DAT](INFO): DAT read: Rx Time:20:21:22.2602
2025-09-20T20:21:19.989Z,1758399679.989 [DAT](INFO): Rx dataTimestamp_ set to:1758399679.988105
2025-09-20T20:21:19.989Z,1758399679.989 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:20.160Z,1758399680.160 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:20.162Z,1758399680.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:20.214Z,1758399680.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.359146 m,
bearing: 101.485065 deg,
approach rate: -0.247081 m/s,
LOS rate: -0.156652 deg/s,
cmd heading: 92.687224 deg,
new cmd heading: 92.557416 deg.
2025-09-20T20:21:20.222Z,1758399680.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615432 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:20.240Z,1758399680.240 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:20.495Z,1758399680.495 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:20.600Z,1758399680.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.93 m.
2025-09-20T20:21:20.603Z,1758399680.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.926315 m,
nav range: 152.251831 m,
bearing: 101.417692 deg,
approach rate: -0.244765 m/s,
LOS rate: -0.153775 deg/s,
cmd heading: 92.557417 deg,
new cmd heading: 92.422575 deg.
2025-09-20T20:21:20.604Z,1758399680.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613078 target range: 153.926315 and range: 154.60 m.
2025-09-20T20:21:20.750Z,1758399680.750 [DAT](INFO): DAT read: 20:21:22.2602 LVL= 26800, 30193, 19634, 31187, AGC= 63, IDX= 437,-0.05, 2.203, 2.254,-2.028, 2.967, PHS=-0.662,-0.668, 1.243, RAW= 209.8, 0.9, CAL= 209.1, -0.7, ROT= 300.9, 0.7
2025-09-20T20:21:20.751Z,1758399680.751 [DAT](INFO): got valid direction response:
20:21:22.2602 LVL= 26800, 30193, 19634, 31187, AGC= 63, IDX= 437,-0.05, 2.203, 2.254,-2.028, 2.967, PHS=-0.662,-0.668, 1.243, RAW= 209.8, 0.9, CAL= 209.1, -0.7, ROT= 300.9, 0.7
2025-09-20T20:21:20.752Z,1758399680.752 [DAT](INFO): DAT read: Bearing 302.9, -60.4 (Local)
2025-09-20T20:21:20.752Z,1758399680.752 [DAT](INFO): Local bearing/azimuth received:
Bearing 302.9, -60.4 (Local)
2025-09-20T20:21:20.754Z,1758399680.754 [DAT](INFO): DAT read: Range 11 to 50 : 154.1 m (Round-trip 205.5 ms) speed 0.2 m/s
2025-09-20T20:21:20.756Z,1758399680.756 [DAT](INFO): DAT read: user:198>Tx time:20:21:23.3505
2025-09-20T20:21:20.757Z,1758399680.757 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:20.758Z,1758399680.758 [DAT](INFO): direction in FSK: [0.513503,-0.858001,-0.012217]
2025-09-20T20:21:20.758Z,1758399680.758 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:20.763Z,1758399680.763 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:20.764Z,1758399680.764 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:20.988Z,1758399680.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 154.100006 m,
deltaT: 3.779826 s,
deltaX: -0.500000 m,
approachRate: -0.132281 m/s,
rangeRepo size: 4
2025-09-20T20:21:20.990Z,1758399680.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 153.428696 m,
bearing: 97.724049 deg,
lat: 36.779240 deg,
lon: -121.859562 deg,
deltaT: 3.779826 s,
deltaX: -0.497620 m,
approachRate: -0.131651 m/s,
posRepo size: 4
2025-09-20T20:21:20.991Z,1758399680.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:20.993Z,1758399680.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.687607 m,
bearing: 100.439279 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.153775 deg/s,
cmd heading: 92.422575 deg,
new cmd heading: 92.303582 deg.
2025-09-20T20:21:20.994Z,1758399680.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611001 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:20.996Z,1758399680.996 [DAT](INFO): DAT read:
2025-09-20T20:21:20.996Z,1758399680.996 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:21.252Z,1758399681.252 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:21.407Z,1758399681.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:21.410Z,1758399681.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.580017 m,
bearing: 100.373463 deg,
approach rate: -0.256305 m/s,
LOS rate: -0.156901 deg/s,
cmd heading: 92.303579 deg,
new cmd heading: 92.171854 deg.
2025-09-20T20:21:21.411Z,1758399681.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608702 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:21.501Z,1758399681.501 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:21.752Z,1758399681.752 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:21.795Z,1758399681.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:21.797Z,1758399681.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.479675 m,
bearing: 100.314072 deg,
approach rate: -0.258940 m/s,
LOS rate: -0.153364 deg/s,
cmd heading: 92.171852 deg,
new cmd heading: 92.052992 deg.
2025-09-20T20:21:21.798Z,1758399681.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.606628 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:21.851Z,1758399681.851 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:21:22.004Z,1758399682.004 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:22.210Z,1758399682.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:22.218Z,1758399682.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:22.252Z,1758399682.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.371490 m,
bearing: 100.252107 deg,
approach rate: -0.256540 m/s,
LOS rate: -0.147041 deg/s,
cmd heading: 92.052993 deg,
new cmd heading: 91.928977 deg.
2025-09-20T20:21:22.258Z,1758399682.258 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:22.263Z,1758399682.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604463 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:22.508Z,1758399682.508 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:22.635Z,1758399682.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:22.641Z,1758399682.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.256897 m,
bearing: 100.187742 deg,
approach rate: -0.273989 m/s,
LOS rate: -0.154012 deg/s,
cmd heading: 91.928978 deg,
new cmd heading: 91.800149 deg.
2025-09-20T20:21:22.642Z,1758399682.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602215 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:22.761Z,1758399682.761 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:22.855Z,1758399682.855 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:21:22.984Z,1758399682.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:23.007Z,1758399683.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.150696 m,
bearing: 100.129850 deg,
approach rate: -0.303503 m/s,
LOS rate: -0.165558 deg/s,
cmd heading: 91.800147 deg,
new cmd heading: 91.684283 deg.
2025-09-20T20:21:23.008Z,1758399683.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600193 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:23.012Z,1758399683.012 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:23.266Z,1758399683.266 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:23.457Z,1758399683.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:23.464Z,1758399683.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 152.018921 m,
bearing: 100.060451 deg,
approach rate: -0.278862 m/s,
LOS rate: -0.146991 deg/s,
cmd heading: 91.684286 deg,
new cmd heading: 91.545367 deg.
2025-09-20T20:21:23.465Z,1758399683.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597768 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:23.516Z,1758399683.516 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:23.769Z,1758399683.769 [DAT](INFO): DAT read: Rx Time:20:21:25.9590
2025-09-20T20:21:23.770Z,1758399683.770 [DAT](INFO): Rx dataTimestamp_ set to:1758399683.769622
2025-09-20T20:21:23.771Z,1758399683.771 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:23.852Z,1758399683.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.43 m.
2025-09-20T20:21:23.854Z,1758399683.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 153.428696 m,
nav range: 151.911987 m,
bearing: 100.005849 deg,
approach rate: -0.270977 m/s,
LOS rate: -0.138461 deg/s,
cmd heading: 91.545367 deg,
new cmd heading: 91.436088 deg.
2025-09-20T20:21:23.860Z,1758399683.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595861 target range: 153.428696 and range: 154.10 m.
2025-09-20T20:21:24.020Z,1758399684.020 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:24.297Z,1758399684.297 [DAT](INFO): DAT read: 20:21:25.9590 LVL= 32752, 32753, 29090, 32755, AGC= 65, IDX= 426,-0.35,-0.847,-1.121, 1.086,-0.149, PHS=-0.595,-0.927, 1.191, RAW= 201.6, 3.4, CAL= 201.7, 1.7, ROT= 308.3, -1.7
2025-09-20T20:21:24.298Z,1758399684.298 [DAT](INFO): got valid direction response:
20:21:25.9590 LVL= 32752, 32753, 29090, 32755, AGC= 65, IDX= 426,-0.35,-0.847,-1.121, 1.086,-0.149, PHS=-0.595,-0.927, 1.191, RAW= 201.6, 3.4, CAL= 201.7, 1.7, ROT= 308.3, -1.7
2025-09-20T20:21:24.299Z,1758399684.299 [DAT](INFO): DAT read: Bearing 300.9, -53.5 (Local)
2025-09-20T20:21:24.308Z,1758399684.308 [DAT](INFO): Local bearing/azimuth received:
Bearing 300.9, -53.5 (Local)
2025-09-20T20:21:24.315Z,1758399684.315 [DAT](INFO): DAT read: Range 11 to 50 : 153.2 m (Round-trip 204.3 ms) speed 0.2 m/s
2025-09-20T20:21:24.316Z,1758399684.316 [DAT](INFO): DAT read: user:199>Tx time:20:21:27.0505
2025-09-20T20:21:24.317Z,1758399684.317 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:24.324Z,1758399684.324 [DAT](INFO): direction in FSK: [0.619506,-0.784431,0.029666]
2025-09-20T20:21:24.324Z,1758399684.324 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:24.335Z,1758399684.335 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:24.375Z,1758399684.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:24.424Z,1758399684.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 153.199997 m,
deltaT: 3.529523 s,
deltaX: -0.900009 m,
approachRate: -0.254995 m/s,
rangeRepo size: 4
2025-09-20T20:21:24.426Z,1758399684.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 152.532700 m,
bearing: 97.963136 deg,
lat: 36.779285 deg,
lon: -121.859557 deg,
deltaT: 3.529523 s,
deltaX: -0.895996 m,
approachRate: -0.253858 m/s,
posRepo size: 4
2025-09-20T20:21:24.427Z,1758399684.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:24.433Z,1758399684.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 151.384033 m,
bearing: 98.008551 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.138461 deg/s,
cmd heading: 91.436091 deg,
new cmd heading: 91.278981 deg.
2025-09-20T20:21:24.434Z,1758399684.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593119 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:24.524Z,1758399684.524 [DAT](INFO): DAT read:
2025-09-20T20:21:24.524Z,1758399684.524 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:24.776Z,1758399684.776 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:24.800Z,1758399684.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:24.802Z,1758399684.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:24.805Z,1758399684.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 151.261200 m,
bearing: 97.947093 deg,
approach rate: -0.320820 m/s,
LOS rate: -0.160649 deg/s,
cmd heading: 91.278983 deg,
new cmd heading: 91.155967 deg.
2025-09-20T20:21:24.808Z,1758399684.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590972 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:25.028Z,1758399685.028 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:25.183Z,1758399685.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:25.186Z,1758399685.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 151.148849 m,
bearing: 97.892515 deg,
approach rate: -0.311218 m/s,
LOS rate: -0.151297 deg/s,
cmd heading: 91.155964 deg,
new cmd heading: 91.046727 deg.
2025-09-20T20:21:25.187Z,1758399685.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589065 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:25.284Z,1758399685.284 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:25.532Z,1758399685.532 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:25.595Z,1758399685.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:25.598Z,1758399685.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 151.016998 m,
bearing: 97.830164 deg,
approach rate: -0.305022 m/s,
LOS rate: -0.144367 deg/s,
cmd heading: 91.046729 deg,
new cmd heading: 90.921919 deg.
2025-09-20T20:21:25.599Z,1758399685.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586887 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:25.785Z,1758399685.785 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:25.968Z,1758399685.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:25.970Z,1758399685.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 150.898743 m,
bearing: 97.777659 deg,
approach rate: -0.317550 m/s,
LOS rate: -0.141102 deg/s,
cmd heading: 90.921921 deg,
new cmd heading: 90.816828 deg.
2025-09-20T20:21:25.971Z,1758399685.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585053 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:26.036Z,1758399686.036 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:26.291Z,1758399686.291 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:26.392Z,1758399686.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:26.394Z,1758399686.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 150.763336 m,
bearing: 97.720760 deg,
approach rate: -0.319583 m/s,
LOS rate: -0.134411 deg/s,
cmd heading: 90.816832 deg,
new cmd heading: 90.702932 deg.
2025-09-20T20:21:26.412Z,1758399686.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583065 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:26.540Z,1758399686.540 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:26.792Z,1758399686.792 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:26.816Z,1758399686.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:26.824Z,1758399686.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:26.833Z,1758399686.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 150.634491 m,
bearing: 97.668207 deg,
approach rate: -0.297952 m/s,
LOS rate: -0.121632 deg/s,
cmd heading: 90.702931 deg,
new cmd heading: 90.597736 deg.
2025-09-20T20:21:26.834Z,1758399686.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581229 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:27.047Z,1758399687.047 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:27.224Z,1758399687.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:27.227Z,1758399687.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 150.496796 m,
bearing: 97.611888 deg,
approach rate: -0.343689 m/s,
LOS rate: -0.140702 deg/s,
cmd heading: 90.597733 deg,
new cmd heading: 90.484991 deg.
2025-09-20T20:21:27.228Z,1758399687.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579261 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:27.299Z,1758399687.299 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:27.548Z,1758399687.548 [DAT](INFO): DAT read: Rx Time:20:21:29.6577
2025-09-20T20:21:27.548Z,1758399687.548 [DAT](INFO): Rx dataTimestamp_ set to:1758399687.548151
2025-09-20T20:21:27.549Z,1758399687.549 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:27.643Z,1758399687.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:27.646Z,1758399687.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 150.356339 m,
bearing: 97.557987 deg,
approach rate: -0.348627 m/s,
LOS rate: -0.133911 deg/s,
cmd heading: 90.484994 deg,
new cmd heading: 90.377092 deg.
2025-09-20T20:21:27.651Z,1758399687.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.577378 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:27.802Z,1758399687.802 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:27.990Z,1758399687.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 152.53 m.
2025-09-20T20:21:27.993Z,1758399687.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 152.532700 m,
nav range: 150.231491 m,
bearing: 97.511386 deg,
approach rate: -0.344259 m/s,
LOS rate: -0.128606 deg/s,
cmd heading: 90.377090 deg,
new cmd heading: 90.283811 deg.
2025-09-20T20:21:27.993Z,1758399687.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575750 target range: 152.532700 and range: 153.20 m.
2025-09-20T20:21:28.059Z,1758399688.059 [DAT](INFO): DAT read: 20:21:29.6577 LVL= 30240, 31185, 24274, 32755, AGC= 64, IDX= 427, 0.09, 0.553,-0.100, 2.268, 1.050, PHS=-0.394,-1.104, 1.174, RAW= 192.3, 3.3, CAL= 192.5, 0.7, ROT= 317.5, -0.7
2025-09-20T20:21:28.060Z,1758399688.060 [DAT](INFO): got valid direction response:
20:21:29.6577 LVL= 30240, 31185, 24274, 32755, AGC= 64, IDX= 427, 0.09, 0.553,-0.100, 2.268, 1.050, PHS=-0.394,-1.104, 1.174, RAW= 192.3, 3.3, CAL= 192.5, 0.7, ROT= 317.5, -0.7
2025-09-20T20:21:28.061Z,1758399688.061 [DAT](INFO): DAT read: Bearing 291.9, -44.4 (Local)
2025-09-20T20:21:28.061Z,1758399688.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 291.9, -44.4 (Local)
2025-09-20T20:21:28.062Z,1758399688.062 [DAT](INFO): DAT read: Range 11 to 50 : 152.2 m (Round-trip 203.0 ms) speed 0.3 m/s
2025-09-20T20:21:28.064Z,1758399688.064 [DAT](INFO): DAT read: user:200>Tx time:20:21:30.7505
2025-09-20T20:21:28.064Z,1758399688.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:28.065Z,1758399688.065 [DAT](INFO): direction in FSK: [0.737222,-0.675540,0.012217]
2025-09-20T20:21:28.065Z,1758399688.065 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:28.069Z,1758399688.069 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:28.069Z,1758399688.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:28.307Z,1758399688.307 [DAT](INFO): DAT read:
2025-09-20T20:21:28.312Z,1758399688.312 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:28.451Z,1758399688.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 152.199997 m,
deltaT: 3.779397 s,
deltaX: -1.000000 m,
approachRate: -0.264592 m/s,
rangeRepo size: 4
2025-09-20T20:21:28.453Z,1758399688.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 151.537247 m,
bearing: 98.004956 deg,
lat: 36.779271 deg,
lon: -121.859548 deg,
deltaT: 3.779397 s,
deltaX: -0.995453 m,
approachRate: -0.263389 m/s,
posRepo size: 4
2025-09-20T20:21:28.454Z,1758399688.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:28.461Z,1758399688.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 151.162933 m,
bearing: 98.020892 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.128606 deg/s,
cmd heading: 90.283811 deg,
new cmd heading: 90.166418 deg.
2025-09-20T20:21:28.461Z,1758399688.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573701 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:28.556Z,1758399688.556 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:28.809Z,1758399688.809 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:28.936Z,1758399688.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:28.938Z,1758399688.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:28.941Z,1758399688.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 150.974915 m,
bearing: 97.958868 deg,
approach rate: -0.382029 m/s,
LOS rate: -0.126180 deg/s,
cmd heading: 90.166420 deg,
new cmd heading: 90.042219 deg.
2025-09-20T20:21:28.942Z,1758399688.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571533 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:29.060Z,1758399689.060 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:29.314Z,1758399689.314 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:29.420Z,1758399689.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:29.422Z,1758399689.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 150.799759 m,
bearing: 97.905072 deg,
approach rate: -0.363896 m/s,
LOS rate: -0.111895 deg/s,
cmd heading: 90.042220 deg,
new cmd heading: 89.934502 deg.
2025-09-20T20:21:29.424Z,1758399689.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569653 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:29.564Z,1758399689.564 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:29.817Z,1758399689.817 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:29.885Z,1758399689.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:29.888Z,1758399689.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 150.629288 m,
bearing: 97.854269 deg,
approach rate: -0.366587 m/s,
LOS rate: -0.109372 deg/s,
cmd heading: 89.934501 deg,
new cmd heading: 89.832780 deg.
2025-09-20T20:21:29.889Z,1758399689.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567878 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:30.068Z,1758399690.068 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:30.304Z,1758399690.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:30.309Z,1758399690.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 150.476379 m,
bearing: 97.810037 deg,
approach rate: -0.364962 m/s,
LOS rate: -0.105681 deg/s,
cmd heading: 89.832779 deg,
new cmd heading: 89.744225 deg.
2025-09-20T20:21:30.311Z,1758399690.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566332 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:30.323Z,1758399690.323 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:30.572Z,1758399690.572 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:30.740Z,1758399690.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:30.743Z,1758399690.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 150.307281 m,
bearing: 97.762057 deg,
approach rate: -0.387226 m/s,
LOS rate: -0.109995 deg/s,
cmd heading: 89.744226 deg,
new cmd heading: 89.648158 deg.
2025-09-20T20:21:30.744Z,1758399690.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564656 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:30.824Z,1758399690.824 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:31.076Z,1758399691.076 [DAT](INFO): DAT read: Rx Time:20:21:33.3560
2025-09-20T20:21:31.077Z,1758399691.077 [DAT](INFO): Rx dataTimestamp_ set to:1758399691.076307
2025-09-20T20:21:31.077Z,1758399691.077 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:31.177Z,1758399691.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:31.195Z,1758399691.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:31.198Z,1758399691.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 150.146729 m,
bearing: 97.717871 deg,
approach rate: -0.365888 m/s,
LOS rate: -0.100804 deg/s,
cmd heading: 89.648159 deg,
new cmd heading: 89.559693 deg.
2025-09-20T20:21:31.203Z,1758399691.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563112 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:31.330Z,1758399691.330 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:31.553Z,1758399691.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.54 m.
2025-09-20T20:21:31.556Z,1758399691.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 151.537247 m,
nav range: 149.998108 m,
bearing: 97.677658 deg,
approach rate: -0.397876 m/s,
LOS rate: -0.107761 deg/s,
cmd heading: 89.559694 deg,
new cmd heading: 89.479189 deg.
2025-09-20T20:21:31.557Z,1758399691.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561706 target range: 151.537247 and range: 152.20 m.
2025-09-20T20:21:31.591Z,1758399691.591 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:31.846Z,1758399691.846 [DAT](INFO): DAT read: 20:21:33.3560 LVL= 31856, 32753, 21730, 32755, AGC= 64, IDX= 427,-0.38,-1.110,-1.948, 0.459,-0.671, PHS=-0.338,-1.233, 1.086, RAW= 187.5, 4.8, CAL= 187.6, 3.1, ROT= 322.4, -3.1
2025-09-20T20:21:31.847Z,1758399691.847 [DAT](INFO): got valid direction response:
20:21:33.3560 LVL= 31856, 32753, 21730, 32755, AGC= 64, IDX= 427,-0.38,-1.110,-1.948, 0.459,-0.671, PHS=-0.338,-1.233, 1.086, RAW= 187.5, 4.8, CAL= 187.6, 3.1, ROT= 322.4, -3.1
2025-09-20T20:21:31.848Z,1758399691.848 [DAT](INFO): DAT read: Bearing 287.3, -39.9 (Local)
2025-09-20T20:21:31.848Z,1758399691.848 [DAT](INFO): Local bearing/azimuth received:
Bearing 287.3, -39.9 (Local)
2025-09-20T20:21:31.850Z,1758399691.850 [DAT](INFO): DAT read: Range 11 to 50 : 150.9 m (Round-trip 201.3 ms) speed 0.3 m/s
2025-09-20T20:21:31.851Z,1758399691.851 [DAT](INFO): DAT read: user:201>Tx time:20:21:34.4505
2025-09-20T20:21:31.851Z,1758399691.851 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:31.852Z,1758399691.852 [DAT](INFO): direction in FSK: [0.791130,-0.609253,0.054079]
2025-09-20T20:21:31.852Z,1758399691.852 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:31.897Z,1758399691.897 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:31.897Z,1758399691.897 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:31.986Z,1758399691.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 150.899994 m,
deltaT: 3.787165 s,
deltaX: -1.300003 m,
approachRate: -0.343266 m/s,
rangeRepo size: 4
2025-09-20T20:21:31.993Z,1758399691.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 150.242905 m,
bearing: 94.926821 deg,
lat: 36.779285 deg,
lon: -121.859544 deg,
deltaT: 3.787165 s,
deltaX: -1.294342 m,
approachRate: -0.341771 m/s,
posRepo size: 4
2025-09-20T20:21:31.993Z,1758399691.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:32.000Z,1758399692.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 149.944885 m,
bearing: 97.008087 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.107761 deg/s,
cmd heading: 89.479187 deg,
new cmd heading: 89.385862 deg.
2025-09-20T20:21:32.001Z,1758399692.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560078 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:32.094Z,1758399692.094 [DAT](INFO): DAT read:
2025-09-20T20:21:32.095Z,1758399692.095 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:32.346Z,1758399692.346 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:32.426Z,1758399692.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:32.432Z,1758399692.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 149.770462 m,
bearing: 96.962749 deg,
approach rate: -0.396528 m/s,
LOS rate: -0.103189 deg/s,
cmd heading: 89.385859 deg,
new cmd heading: 89.295079 deg.
2025-09-20T20:21:32.433Z,1758399692.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558493 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:32.596Z,1758399692.596 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:32.836Z,1758399692.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:32.838Z,1758399692.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 149.609650 m,
bearing: 96.923001 deg,
approach rate: -0.392374 m/s,
LOS rate: -0.097088 deg/s,
cmd heading: 89.295079 deg,
new cmd heading: 89.215497 deg.
2025-09-20T20:21:32.839Z,1758399692.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557104 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:32.848Z,1758399692.848 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:33.100Z,1758399693.100 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:33.167Z,1758399693.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:33.170Z,1758399693.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 149.468292 m,
bearing: 96.889192 deg,
approach rate: -0.426409 m/s,
LOS rate: -0.102080 deg/s,
cmd heading: 89.215494 deg,
new cmd heading: 89.147813 deg.
2025-09-20T20:21:33.171Z,1758399693.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555923 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:33.352Z,1758399693.352 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:33.567Z,1758399693.567 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00032800091929,352, 0.0,1494.4, 0
2025-09-20T20:21:33.581Z,1758399693.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:33.583Z,1758399693.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:33.586Z,1758399693.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 149.298645 m,
bearing: 96.849983 deg,
approach rate: -0.407968 m/s,
LOS rate: -0.094398 deg/s,
cmd heading: 89.147813 deg,
new cmd heading: 89.069305 deg.
2025-09-20T20:21:33.586Z,1758399693.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554553 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:33.604Z,1758399693.604 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:33.856Z,1758399693.856 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:33.988Z,1758399693.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:33.991Z,1758399693.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 149.134796 m,
bearing: 96.813326 deg,
approach rate: -0.404231 m/s,
LOS rate: -0.090535 deg/s,
cmd heading: 89.069307 deg,
new cmd heading: 88.995913 deg.
2025-09-20T20:21:33.996Z,1758399693.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553272 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:34.108Z,1758399694.108 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:34.362Z,1758399694.362 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:34.446Z,1758399694.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:34.463Z,1758399694.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 148.960175 m,
bearing: 96.775525 deg,
approach rate: -0.381373 m/s,
LOS rate: -0.082653 deg/s,
cmd heading: 88.995910 deg,
new cmd heading: 88.920220 deg.
2025-09-20T20:21:34.464Z,1758399694.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551951 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:34.612Z,1758399694.612 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:34.843Z,1758399694.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:34.846Z,1758399694.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 148.777420 m,
bearing: 96.740333 deg,
approach rate: -0.460367 m/s,
LOS rate: -0.088760 deg/s,
cmd heading: 88.920218 deg,
new cmd heading: 88.849747 deg.
2025-09-20T20:21:34.847Z,1758399694.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550721 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:34.865Z,1758399694.865 [DAT](INFO): DAT read: Rx Time:20:21:37.0542
2025-09-20T20:21:34.866Z,1758399694.866 [DAT](INFO): Rx dataTimestamp_ set to:1758399694.865466
2025-09-20T20:21:34.866Z,1758399694.866 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:35.116Z,1758399695.116 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:35.179Z,1758399695.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 150.24 m.
2025-09-20T20:21:35.182Z,1758399695.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 150.242905 m,
nav range: 148.637726 m,
bearing: 96.714428 deg,
approach rate: -0.416122 m/s,
LOS rate: -0.077236 deg/s,
cmd heading: 88.849744 deg,
new cmd heading: 88.797887 deg.
2025-09-20T20:21:35.183Z,1758399695.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549816 target range: 150.242905 and range: 150.90 m.
2025-09-20T20:21:35.374Z,1758399695.374 [DAT](INFO): DAT read: 20:21:37.0542 LVL= 31104, 32753, 23538, 32755, AGC= 63, IDX= 424,-0.09, 2.822, 1.660,-2.357, 3.091, PHS=-0.167,-1.386, 0.791, RAW= 176.0, 8.1, CAL= 175.8, 8.4, ROT= 334.2, -8.4
2025-09-20T20:21:35.375Z,1758399695.375 [DAT](INFO): got valid direction response:
20:21:37.0542 LVL= 31104, 32753, 23538, 32755, AGC= 63, IDX= 424,-0.09, 2.822, 1.660,-2.357, 3.091, PHS=-0.167,-1.386, 0.791, RAW= 176.0, 8.1, CAL= 175.8, 8.4, ROT= 334.2, -8.4
2025-09-20T20:21:35.376Z,1758399695.376 [DAT](INFO): DAT read: Bearing 285.8, -29.0 (Local)
2025-09-20T20:21:35.376Z,1758399695.376 [DAT](INFO): Local bearing/azimuth received:
Bearing 285.8, -29.0 (Local)
2025-09-20T20:21:35.378Z,1758399695.378 [DAT](INFO): DAT read: Range 11 to 50 : 149.7 m (Round-trip 199.6 ms) speed 0.2 m/s
2025-09-20T20:21:35.379Z,1758399695.379 [DAT](INFO): DAT read: user:202>Tx time:20:21:38.1505
2025-09-20T20:21:35.379Z,1758399695.379 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:35.380Z,1758399695.380 [DAT](INFO): direction in FSK: [0.890661,-0.430562,0.146083]
2025-09-20T20:21:35.380Z,1758399695.380 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:35.384Z,1758399695.384 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:35.384Z,1758399695.384 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:35.620Z,1758399695.620 [DAT](INFO): DAT read:
2025-09-20T20:21:35.620Z,1758399695.620 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:35.624Z,1758399695.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 149.699997 m,
deltaT: 3.528187 s,
deltaX: -1.199997 m,
approachRate: -0.340117 m/s,
rangeRepo size: 4
2025-09-20T20:21:35.626Z,1758399695.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 149.048355 m,
bearing: 99.857167 deg,
lat: 36.779285 deg,
lon: -121.859544 deg,
deltaT: 3.528187 s,
deltaX: -1.194550 m,
approachRate: -0.338573 m/s,
posRepo size: 4
2025-09-20T20:21:35.627Z,1758399695.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:35.630Z,1758399695.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 148.443771 m,
bearing: 96.677993 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.077236 deg/s,
cmd heading: 88.797889 deg,
new cmd heading: 88.729311 deg.
2025-09-20T20:21:35.631Z,1758399695.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548619 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:35.875Z,1758399695.875 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:35.985Z,1758399695.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:35.987Z,1758399695.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:35.990Z,1758399695.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 148.277786 m,
bearing: 96.649142 deg,
approach rate: -0.455389 m/s,
LOS rate: -0.079242 deg/s,
cmd heading: 88.729314 deg,
new cmd heading: 88.671548 deg.
2025-09-20T20:21:35.991Z,1758399695.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.547611 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:36.124Z,1758399696.124 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:36.376Z,1758399696.376 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:36.411Z,1758399696.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:36.423Z,1758399696.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 148.089233 m,
bearing: 96.617667 deg,
approach rate: -0.446946 m/s,
LOS rate: -0.074703 deg/s,
cmd heading: 88.671551 deg,
new cmd heading: 88.608522 deg.
2025-09-20T20:21:36.426Z,1758399696.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546510 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:36.628Z,1758399696.628 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:36.841Z,1758399696.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:36.844Z,1758399696.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 147.885605 m,
bearing: 96.585992 deg,
approach rate: -0.471499 m/s,
LOS rate: -0.073445 deg/s,
cmd heading: 88.608522 deg,
new cmd heading: 88.545085 deg.
2025-09-20T20:21:36.845Z,1758399696.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545403 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:36.882Z,1758399696.882 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:37.135Z,1758399697.135 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:37.226Z,1758399697.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:37.229Z,1758399697.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 147.710236 m,
bearing: 96.559803 deg,
approach rate: -0.459071 m/s,
LOS rate: -0.068637 deg/s,
cmd heading: 88.545083 deg,
new cmd heading: 88.492644 deg.
2025-09-20T20:21:37.230Z,1758399697.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544488 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:37.388Z,1758399697.388 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:37.627Z,1758399697.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:37.630Z,1758399697.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 147.518463 m,
bearing: 96.533320 deg,
approach rate: -0.474378 m/s,
LOS rate: -0.065594 deg/s,
cmd heading: 88.492641 deg,
new cmd heading: 88.439607 deg.
2025-09-20T20:21:37.631Z,1758399697.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543562 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:37.640Z,1758399697.640 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:37.892Z,1758399697.892 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:38.026Z,1758399698.026 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:38.028Z,1758399698.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:38.031Z,1758399698.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 147.332108 m,
bearing: 96.507518 deg,
approach rate: -0.464804 m/s,
LOS rate: -0.064438 deg/s,
cmd heading: 88.439605 deg,
new cmd heading: 88.387934 deg.
2025-09-20T20:21:38.032Z,1758399698.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542660 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:38.145Z,1758399698.145 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:38.396Z,1758399698.396 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:38.506Z,1758399698.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:38.513Z,1758399698.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 147.132339 m,
bearing: 96.479781 deg,
approach rate: -0.418082 m/s,
LOS rate: -0.058128 deg/s,
cmd heading: 88.387934 deg,
new cmd heading: 88.332385 deg.
2025-09-20T20:21:38.514Z,1758399698.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541691 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:38.648Z,1758399698.648 [DAT](INFO): DAT read: Rx Time:20:21:40.7521
2025-09-20T20:21:38.648Z,1758399698.648 [DAT](INFO): Rx dataTimestamp_ set to:1758399698.648200
2025-09-20T20:21:38.649Z,1758399698.649 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:38.900Z,1758399698.900 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:38.913Z,1758399698.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.05 m.
2025-09-20T20:21:38.915Z,1758399698.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 149.048355 m,
nav range: 146.922485 m,
bearing: 96.451401 deg,
approach rate: -0.515949 m/s,
LOS rate: -0.069875 deg/s,
cmd heading: 88.332384 deg,
new cmd heading: 88.275543 deg.
2025-09-20T20:21:38.916Z,1758399698.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540699 target range: 149.048355 and range: 149.70 m.
2025-09-20T20:21:39.158Z,1758399699.158 [DAT](INFO): DAT read: 20:21:40.7521 LVL= 31552, 32753, 22754, 32755, AGC= 66, IDX= 418, 0.16,-2.349, 2.587,-1.495,-2.176, PHS=-0.071,-1.475, 0.638, RAW= 169.2, 9.8, CAL= 169.1, 10.8, ROT= 340.9, -10.8
2025-09-20T20:21:39.159Z,1758399699.159 [DAT](INFO): got valid direction response:
20:21:40.7521 LVL= 31552, 32753, 22754, 32755, AGC= 66, IDX= 418, 0.16,-2.349, 2.587,-1.495,-2.176, PHS=-0.071,-1.475, 0.638, RAW= 169.2, 9.8, CAL= 169.1, 10.8, ROT= 340.9, -10.8
2025-09-20T20:21:39.160Z,1758399699.160 [DAT](INFO): DAT read: Bearing 280.1, -23.1 (Local)
2025-09-20T20:21:39.161Z,1758399699.161 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.1, -23.1 (Local)
2025-09-20T20:21:39.162Z,1758399699.162 [DAT](INFO): DAT read: Range 11 to 50 : 148.0 m (Round-trip 197.4 ms) speed 0.4 m/s
2025-09-20T20:21:39.163Z,1758399699.163 [DAT](INFO): DAT read: user:203>Tx time:20:21:41.8505
2025-09-20T20:21:39.164Z,1758399699.164 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:39.165Z,1758399699.165 [DAT](INFO): direction in FSK: [0.928211,-0.321422,0.187381]
2025-09-20T20:21:39.165Z,1758399699.165 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:39.185Z,1758399699.185 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:39.185Z,1758399699.185 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:39.339Z,1758399699.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 148.000000 m,
deltaT: 3.783753 s,
deltaX: -1.699997 m,
approachRate: -0.449289 m/s,
rangeRepo size: 4
2025-09-20T20:21:39.341Z,1758399699.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 147.356293 m,
bearing: 101.481653 deg,
lat: 36.779271 deg,
lon: -121.859548 deg,
deltaT: 3.783753 s,
deltaX: -1.692062 m,
approachRate: -0.447192 m/s,
posRepo size: 4
2025-09-20T20:21:39.343Z,1758399699.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:39.346Z,1758399699.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 146.616348 m,
bearing: 97.068076 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.069875 deg/s,
cmd heading: 88.275544 deg,
new cmd heading: 88.216641 deg.
2025-09-20T20:21:39.347Z,1758399699.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539671 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:39.405Z,1758399699.405 [DAT](INFO): DAT read:
2025-09-20T20:21:39.406Z,1758399699.406 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:39.656Z,1758399699.656 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:39.708Z,1758399699.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:39.710Z,1758399699.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 146.442154 m,
bearing: 97.051767 deg,
approach rate: -0.466117 m/s,
LOS rate: -0.043691 deg/s,
cmd heading: 88.216640 deg,
new cmd heading: 88.183984 deg.
2025-09-20T20:21:39.716Z,1758399699.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539101 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:39.908Z,1758399699.908 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:40.086Z,1758399700.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:40.088Z,1758399700.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:40.091Z,1758399700.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 146.257935 m,
bearing: 97.034476 deg,
approach rate: -0.484328 m/s,
LOS rate: -0.045517 deg/s,
cmd heading: 88.183985 deg,
new cmd heading: 88.149359 deg.
2025-09-20T20:21:40.092Z,1758399700.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538496 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:40.160Z,1758399700.160 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:40.412Z,1758399700.412 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:40.543Z,1758399700.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:40.546Z,1758399700.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 146.047806 m,
bearing: 97.017442 deg,
approach rate: -0.465845 m/s,
LOS rate: -0.037818 deg/s,
cmd heading: 88.149356 deg,
new cmd heading: 88.115239 deg.
2025-09-20T20:21:40.551Z,1758399700.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537901 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:40.664Z,1758399700.664 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:40.909Z,1758399700.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:40.912Z,1758399700.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 145.867615 m,
bearing: 97.004625 deg,
approach rate: -0.487774 m/s,
LOS rate: -0.034737 deg/s,
cmd heading: 88.115239 deg,
new cmd heading: 88.089575 deg.
2025-09-20T20:21:40.913Z,1758399700.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537453 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:40.924Z,1758399700.924 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:41.176Z,1758399701.176 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:41.330Z,1758399701.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:41.333Z,1758399701.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 145.670532 m,
bearing: 96.991836 deg,
approach rate: -0.467825 m/s,
LOS rate: -0.030399 deg/s,
cmd heading: 88.089571 deg,
new cmd heading: 88.063959 deg.
2025-09-20T20:21:41.334Z,1758399701.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537006 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:41.428Z,1758399701.428 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:41.680Z,1758399701.680 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:41.726Z,1758399701.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:41.729Z,1758399701.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 145.464767 m,
bearing: 96.978532 deg,
approach rate: -0.519584 m/s,
LOS rate: -0.033643 deg/s,
cmd heading: 88.063958 deg,
new cmd heading: 88.037311 deg.
2025-09-20T20:21:41.730Z,1758399701.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536541 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:41.932Z,1758399701.932 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:42.090Z,1758399702.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:42.108Z,1758399702.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:42.115Z,1758399702.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 145.285263 m,
bearing: 96.968066 deg,
approach rate: -0.469596 m/s,
LOS rate: -0.027414 deg/s,
cmd heading: 88.037313 deg,
new cmd heading: 88.016355 deg.
2025-09-20T20:21:42.116Z,1758399702.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536175 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:42.185Z,1758399702.185 [DAT](INFO): DAT read: Rx Time:20:21:44.4498
2025-09-20T20:21:42.186Z,1758399702.186 [DAT](INFO): Rx dataTimestamp_ set to:1758399702.185321
2025-09-20T20:21:42.186Z,1758399702.186 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:42.436Z,1758399702.436 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:42.564Z,1758399702.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:42.571Z,1758399702.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 145.084641 m,
bearing: 96.957638 deg,
approach rate: -0.439888 m/s,
LOS rate: -0.022895 deg/s,
cmd heading: 88.016352 deg,
new cmd heading: 87.995468 deg.
2025-09-20T20:21:42.572Z,1758399702.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535811 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:42.690Z,1758399702.690 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:42.934Z,1758399702.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 147.36 m.
2025-09-20T20:21:42.938Z,1758399702.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 147.356293 m,
nav range: 144.869324 m,
bearing: 96.948059 deg,
approach rate: -0.581931 m/s,
LOS rate: -0.025927 deg/s,
cmd heading: 87.995465 deg,
new cmd heading: 87.976279 deg.
2025-09-20T20:21:42.946Z,1758399702.946 [DAT](INFO): DAT read: 20:21:44.4498 LVL= 26352, 32753, 20690, 32755, AGC= 68, IDX= 410, 0.39, 1.840, 0.348, 2.415, 1.867, PHS= 0.075,-1.475, 0.503, RAW= 161.9, 10.0, CAL= 161.8, 10.8, ROT= 348.2, -10.8
2025-09-20T20:21:42.947Z,1758399702.947 [DAT](INFO): got valid direction response:
20:21:44.4498 LVL= 26352, 32753, 20690, 32755, AGC= 68, IDX= 410, 0.39, 1.840, 0.348, 2.415, 1.867, PHS= 0.075,-1.475, 0.503, RAW= 161.9, 10.0, CAL= 161.8, 10.8, ROT= 348.2, -10.8
2025-09-20T20:21:42.948Z,1758399702.948 [DAT](INFO): DAT read: Bearing 271.9, -16.5 (Local)
2025-09-20T20:21:42.949Z,1758399702.949 [DAT](INFO): Local bearing/azimuth received:
Bearing 271.9, -16.5 (Local)
2025-09-20T20:21:42.950Z,1758399702.950 [DAT](INFO): DAT read: Range 11 to 50 : 146.3 m (Round-trip 195.1 ms) speed 0.3 m/s
2025-09-20T20:21:42.951Z,1758399702.951 [DAT](INFO): DAT read: user:204>Tx time:20:21:45.5505
2025-09-20T20:21:42.952Z,1758399702.952 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:42.953Z,1758399702.953 [DAT](INFO): direction in FSK: [0.961529,-0.200874,0.187381]
2025-09-20T20:21:42.953Z,1758399702.953 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:42.972Z,1758399702.972 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:42.973Z,1758399702.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:42.979Z,1758399702.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535476 target range: 147.356293 and range: 148.00 m.
2025-09-20T20:21:43.192Z,1758399703.192 [DAT](INFO): DAT read:
2025-09-20T20:21:43.192Z,1758399703.192 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:43.329Z,1758399703.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 146.300003 m,
deltaT: 3.788196 s,
deltaX: -1.699997 m,
approachRate: -0.448762 m/s,
rangeRepo size: 4
2025-09-20T20:21:43.331Z,1758399703.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 145.663681 m,
bearing: 95.976489 deg,
lat: 36.779271 deg,
lon: -121.859546 deg,
deltaT: 3.788196 s,
deltaX: -1.692612 m,
approachRate: -0.446812 m/s,
posRepo size: 4
2025-09-20T20:21:43.332Z,1758399703.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:43.334Z,1758399703.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 144.797913 m,
bearing: 96.935976 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.025927 deg/s,
cmd heading: 87.976279 deg,
new cmd heading: 87.955847 deg.
2025-09-20T20:21:43.336Z,1758399703.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535119 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:43.445Z,1758399703.445 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:43.696Z,1758399703.696 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:43.741Z,1758399703.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:43.744Z,1758399703.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 144.593826 m,
bearing: 96.931485 deg,
approach rate: -0.494584 m/s,
LOS rate: -0.010899 deg/s,
cmd heading: 87.955850 deg,
new cmd heading: 87.946855 deg.
2025-09-20T20:21:43.745Z,1758399703.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534962 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:43.948Z,1758399703.948 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:44.130Z,1758399704.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:44.133Z,1758399704.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:44.135Z,1758399704.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 144.401566 m,
bearing: 96.927242 deg,
approach rate: -0.491012 m/s,
LOS rate: -0.010849 deg/s,
cmd heading: 87.946854 deg,
new cmd heading: 87.938358 deg.
2025-09-20T20:21:44.136Z,1758399704.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534814 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:44.202Z,1758399704.202 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:44.456Z,1758399704.456 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:44.595Z,1758399704.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:44.601Z,1758399704.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 144.195312 m,
bearing: 96.925282 deg,
approach rate: -0.446454 m/s,
LOS rate: -0.004250 deg/s,
cmd heading: 87.938358 deg,
new cmd heading: 87.934431 deg.
2025-09-20T20:21:44.602Z,1758399704.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534745 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:44.708Z,1758399704.708 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:44.960Z,1758399704.960 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:44.969Z,1758399704.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:44.972Z,1758399704.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 143.993027 m,
bearing: 96.926629 deg,
approach rate: -0.540399 m/s,
LOS rate: 0.003603 deg/s,
cmd heading: 87.934430 deg,
new cmd heading: 87.937128 deg.
2025-09-20T20:21:44.973Z,1758399704.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534792 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:45.212Z,1758399705.212 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:45.354Z,1758399705.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:45.357Z,1758399705.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 143.805786 m,
bearing: 96.929102 deg,
approach rate: -0.485758 m/s,
LOS rate: 0.006425 deg/s,
cmd heading: 87.937128 deg,
new cmd heading: 87.942082 deg.
2025-09-20T20:21:45.358Z,1758399705.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.534879 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:45.465Z,1758399705.465 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:45.716Z,1758399705.716 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:45.813Z,1758399705.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:45.821Z,1758399705.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 143.582977 m,
bearing: 96.933044 deg,
approach rate: -0.485606 m/s,
LOS rate: 0.008604 deg/s,
cmd heading: 87.942080 deg,
new cmd heading: 87.949976 deg.
2025-09-20T20:21:45.822Z,1758399705.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535017 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:45.968Z,1758399705.968 [DAT](INFO): DAT read: Rx Time:20:21:48.1474
2025-09-20T20:21:45.969Z,1758399705.969 [DAT](INFO): Rx dataTimestamp_ set to:1758399705.968445
2025-09-20T20:21:45.969Z,1758399705.969 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:46.169Z,1758399706.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:46.171Z,1758399706.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.66 m.
2025-09-20T20:21:46.173Z,1758399706.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 145.663681 m,
nav range: 143.402496 m,
bearing: 96.937405 deg,
approach rate: -0.504723 m/s,
LOS rate: 0.012213 deg/s,
cmd heading: 87.949976 deg,
new cmd heading: 87.958710 deg.
2025-09-20T20:21:46.174Z,1758399706.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535169 target range: 145.663681 and range: 146.30 m.
2025-09-20T20:21:46.220Z,1758399706.220 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:46.478Z,1758399706.478 [DAT](INFO): DAT read: 20:21:48.1474 LVL= 27856, 32705, 28498, 32755, AGC= 67, IDX= 418,-0.29,-3.072, 1.584,-2.805, 3.056, PHS= 0.257,-1.427, 0.378, RAW= 153.4, 9.1, CAL= 153.1, 9.8, ROT= 356.9, -9.8
2025-09-20T20:21:46.479Z,1758399706.479 [DAT](INFO): got valid direction response:
20:21:48.1474 LVL= 27856, 32705, 28498, 32755, AGC= 67, IDX= 418,-0.29,-3.072, 1.584,-2.805, 3.056, PHS= 0.257,-1.427, 0.378, RAW= 153.4, 9.1, CAL= 153.1, 9.8, ROT= 356.9, -9.8
2025-09-20T20:21:46.480Z,1758399706.480 [DAT](INFO): DAT read: Bearing 262.3, -8.4 (Local)
2025-09-20T20:21:46.480Z,1758399706.480 [DAT](INFO): Local bearing/azimuth received:
Bearing 262.3, -8.4 (Local)
2025-09-20T20:21:46.482Z,1758399706.482 [DAT](INFO): DAT read: Range 11 to 50 : 144.5 m (Round-trip 192.7 ms) speed 0.4 m/s
2025-09-20T20:21:46.483Z,1758399706.483 [DAT](INFO): DAT read: user:205>Tx time:20:21:49.2505
2025-09-20T20:21:46.483Z,1758399706.483 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:46.484Z,1758399706.484 [DAT](INFO): direction in FSK: [0.983966,-0.053290,0.170209]
2025-09-20T20:21:46.484Z,1758399706.484 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:46.501Z,1758399706.501 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:46.501Z,1758399706.501 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:46.649Z,1758399706.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 144.500000 m,
deltaT: 3.531814 s,
deltaX: -1.800003 m,
approachRate: -0.509654 m/s,
rangeRepo size: 4
2025-09-20T20:21:46.659Z,1758399706.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 143.871521 m,
bearing: 96.262076 deg,
lat: 36.779286 deg,
lon: -121.859546 deg,
deltaT: 3.531814 s,
deltaX: -1.792160 m,
approachRate: -0.507433 m/s,
posRepo size: 4
2025-09-20T20:21:46.660Z,1758399706.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:46.663Z,1758399706.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 142.982986 m,
bearing: 96.275886 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.012213 deg/s,
cmd heading: 87.958712 deg,
new cmd heading: 87.970383 deg.
2025-09-20T20:21:46.668Z,1758399706.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535373 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:46.724Z,1758399706.724 [DAT](INFO): DAT read:
2025-09-20T20:21:46.725Z,1758399706.725 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:46.976Z,1758399706.976 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:46.990Z,1758399706.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:46.992Z,1758399706.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 142.803421 m,
bearing: 96.281312 deg,
approach rate: -0.526707 m/s,
LOS rate: 0.015936 deg/s,
cmd heading: 87.970384 deg,
new cmd heading: 87.981250 deg.
2025-09-20T20:21:46.993Z,1758399706.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535563 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:47.228Z,1758399707.228 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:47.373Z,1758399707.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:47.376Z,1758399707.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 142.612885 m,
bearing: 96.288276 deg,
approach rate: -0.497005 m/s,
LOS rate: 0.018191 deg/s,
cmd heading: 87.981251 deg,
new cmd heading: 87.995199 deg.
2025-09-20T20:21:47.377Z,1758399707.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.535806 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:47.481Z,1758399707.481 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:47.732Z,1758399707.732 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:47.826Z,1758399707.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:47.829Z,1758399707.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 142.393082 m,
bearing: 96.298369 deg,
approach rate: -0.484665 m/s,
LOS rate: 0.022289 deg/s,
cmd heading: 87.995199 deg,
new cmd heading: 88.015415 deg.
2025-09-20T20:21:47.830Z,1758399707.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536159 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:47.984Z,1758399707.984 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:48.189Z,1758399708.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:48.191Z,1758399708.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:48.194Z,1758399708.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 142.221863 m,
bearing: 96.307294 deg,
approach rate: -0.469476 m/s,
LOS rate: 0.024500 deg/s,
cmd heading: 88.015416 deg,
new cmd heading: 88.033286 deg.
2025-09-20T20:21:48.211Z,1758399708.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536471 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:48.236Z,1758399708.236 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:48.488Z,1758399708.488 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:48.616Z,1758399708.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:48.650Z,1758399708.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 142.019653 m,
bearing: 96.319095 deg,
approach rate: -0.478615 m/s,
LOS rate: 0.027972 deg/s,
cmd heading: 88.033284 deg,
new cmd heading: 88.056919 deg.
2025-09-20T20:21:48.655Z,1758399708.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536883 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:48.740Z,1758399708.740 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:48.992Z,1758399708.992 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:49.005Z,1758399709.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:49.008Z,1758399709.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 141.814911 m,
bearing: 96.334560 deg,
approach rate: -0.522453 m/s,
LOS rate: 0.039520 deg/s,
cmd heading: 88.056916 deg,
new cmd heading: 88.087891 deg.
2025-09-20T20:21:49.009Z,1758399709.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537424 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:49.244Z,1758399709.244 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:49.387Z,1758399709.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:49.390Z,1758399709.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 141.626678 m,
bearing: 96.349838 deg,
approach rate: -0.492996 m/s,
LOS rate: 0.040069 deg/s,
cmd heading: 88.087891 deg,
new cmd heading: 88.118488 deg.
2025-09-20T20:21:49.403Z,1758399709.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537958 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:49.496Z,1758399709.496 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:49.750Z,1758399709.750 [DAT](INFO): DAT read: Rx Time:20:21:51.8448
2025-09-20T20:21:49.752Z,1758399709.752 [DAT](INFO): Rx dataTimestamp_ set to:1758399709.750582
2025-09-20T20:21:49.752Z,1758399709.752 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:49.858Z,1758399709.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:49.861Z,1758399709.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 141.394440 m,
bearing: 96.369854 deg,
approach rate: -0.492889 m/s,
LOS rate: 0.042550 deg/s,
cmd heading: 88.118490 deg,
new cmd heading: 88.158588 deg.
2025-09-20T20:21:49.862Z,1758399709.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538658 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:50.000Z,1758399710.000 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:21:50.208Z,1758399710.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:50.210Z,1758399710.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.87 m.
2025-09-20T20:21:50.217Z,1758399710.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 143.871521 m,
nav range: 141.226913 m,
bearing: 96.385147 deg,
approach rate: -0.476372 m/s,
LOS rate: 0.043539 deg/s,
cmd heading: 88.158590 deg,
new cmd heading: 88.189213 deg.
2025-09-20T20:21:50.218Z,1758399710.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539192 target range: 143.871521 and range: 144.50 m.
2025-09-20T20:21:50.263Z,1758399710.263 [DAT](INFO): DAT read: 20:21:51.8448 LVL= 25808, 32753, 26914, 32755, AGC= 64, IDX= 408, 0.48,-2.916, 1.552, 3.058, 2.916, PHS= 0.554,-1.318, 0.098, RAW= 136.5, 7.9, CAL= 136.3, 8.9, ROT= 13.7, -8.9
2025-09-20T20:21:50.265Z,1758399710.265 [DAT](INFO): got valid direction response:
20:21:51.8448 LVL= 25808, 32753, 26914, 32755, AGC= 64, IDX= 408, 0.48,-2.916, 1.552, 3.058, 2.916, PHS= 0.554,-1.318, 0.098, RAW= 136.5, 7.9, CAL= 136.3, 8.9, ROT= 13.7, -8.9
2025-09-20T20:21:50.267Z,1758399710.267 [DAT](INFO): DAT read: Bearing 254.3, 7.9 (Local)
2025-09-20T20:21:50.268Z,1758399710.268 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.3, 7.9 (Local)
2025-09-20T20:21:50.270Z,1758399710.270 [DAT](INFO): DAT read: Range 11 to 50 : 142.6 m (Round-trip 190.2 ms) speed 0.4 m/s
2025-09-20T20:21:50.276Z,1758399710.276 [DAT](INFO): DAT read: Tx time:20:21:52.9098
2025-09-20T20:21:50.277Z,1758399710.277 [DAT](INFO): Ping request sent.
2025-09-20T20:21:50.277Z,1758399710.277 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:21:50.278Z,1758399710.278 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:50.279Z,1758399710.279 [DAT](INFO): direction in FSK: [0.959852,0.233987,0.154710]
2025-09-20T20:21:50.287Z,1758399710.287 [DAT](INFO): publishing transmit ping time
2025-09-20T20:21:50.288Z,1758399710.288 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:50.291Z,1758399710.291 [DAT](INFO): publishing transmit ping time
2025-09-20T20:21:50.291Z,1758399710.291 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:50.683Z,1758399710.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 142.600006 m,
deltaT: 3.780755 s,
deltaX: -1.899994 m,
approachRate: -0.502544 m/s,
rangeRepo size: 4
2025-09-20T20:21:50.685Z,1758399710.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 141.977051 m,
bearing: 104.791996 deg,
lat: 36.779213 deg,
lon: -121.859563 deg,
deltaT: 3.780755 s,
deltaX: -1.894470 m,
approachRate: -0.501083 m/s,
posRepo size: 4
2025-09-20T20:21:50.686Z,1758399710.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:50.692Z,1758399710.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 140.674362 m,
bearing: 99.762080 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.043539 deg/s,
cmd heading: 88.189210 deg,
new cmd heading: 88.229293 deg.
2025-09-20T20:21:50.693Z,1758399710.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.539892 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:51.060Z,1758399711.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:51.063Z,1758399711.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 140.452484 m,
bearing: 99.790702 deg,
approach rate: -0.569112 m/s,
LOS rate: 0.073532 deg/s,
cmd heading: 88.229296 deg,
new cmd heading: 88.286632 deg.
2025-09-20T20:21:51.064Z,1758399711.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.540892 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:51.439Z,1758399711.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:51.442Z,1758399711.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 140.268539 m,
bearing: 99.815176 deg,
approach rate: -0.485697 m/s,
LOS rate: 0.064707 deg/s,
cmd heading: 88.286629 deg,
new cmd heading: 88.335641 deg.
2025-09-20T20:21:51.443Z,1758399711.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541748 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:51.880Z,1758399711.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:51.883Z,1758399711.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 140.045517 m,
bearing: 99.845465 deg,
approach rate: -0.505276 m/s,
LOS rate: 0.068732 deg/s,
cmd heading: 88.335642 deg,
new cmd heading: 88.396318 deg.
2025-09-20T20:21:51.884Z,1758399711.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542807 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:52.260Z,1758399712.260 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:52.264Z,1758399712.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:52.269Z,1758399712.269 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:21:52.269Z,1758399712.269 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:21:52.270Z,1758399712.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:52.273Z,1758399712.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 139.855392 m,
bearing: 99.871892 deg,
approach rate: -0.495795 m/s,
LOS rate: 0.069007 deg/s,
cmd heading: 88.396315 deg,
new cmd heading: 88.449240 deg.
2025-09-20T20:21:52.274Z,1758399712.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.543730 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:52.520Z,1758399712.520 [DAT](INFO): DAT read: user:206>
2025-09-20T20:21:52.521Z,1758399712.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243867
2025-09-20T20:21:52.703Z,1758399712.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:52.713Z,1758399712.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 139.658371 m,
bearing: 99.899759 deg,
approach rate: -0.454676 m/s,
LOS rate: 0.064401 deg/s,
cmd heading: 88.449242 deg,
new cmd heading: 88.505055 deg.
2025-09-20T20:21:52.716Z,1758399712.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.544705 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:52.774Z,1758399712.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496702
2025-09-20T20:21:52.975Z,1758399712.975 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:21:53.024Z,1758399713.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747360
2025-09-20T20:21:53.093Z,1758399713.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:53.100Z,1758399713.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 139.440857 m,
bearing: 99.930341 deg,
approach rate: -0.548995 m/s,
LOS rate: 0.077307 deg/s,
cmd heading: 88.505052 deg,
new cmd heading: 88.566310 deg.
2025-09-20T20:21:53.101Z,1758399713.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545774 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:53.276Z,1758399713.276 [DAT](INFO): DAT read: Rx Time:20:21:55.5017
2025-09-20T20:21:53.276Z,1758399713.276 [DAT](INFO): Rx dataTimestamp_ set to:1758399713.276164
2025-09-20T20:21:53.277Z,1758399713.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000138
2025-09-20T20:21:53.471Z,1758399713.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.98 m.
2025-09-20T20:21:53.474Z,1758399713.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 141.977051 m,
nav range: 139.241592 m,
bearing: 99.958678 deg,
approach rate: -0.527406 m/s,
LOS rate: 0.075109 deg/s,
cmd heading: 88.566312 deg,
new cmd heading: 88.623067 deg.
2025-09-20T20:21:53.475Z,1758399713.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.546764 target range: 141.977051 and range: 142.60 m.
2025-09-20T20:21:53.530Z,1758399713.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252305
2025-09-20T20:21:53.788Z,1758399713.788 [DAT](INFO): DAT read: 20:21:55.5017 LVL= 27872, 23457, 24418, 23443, AGC= 68, IDX= 159,-0.06,-0.362,-2.174,-0.760,-0.735, PHS= 0.475,-1.394,-0.069, RAW= 133.6, 11.9, CAL= 133.0, 13.0, ROT= 17.0, -13.0
2025-09-20T20:21:53.790Z,1758399713.790 [DAT](INFO): got valid direction response:
20:21:55.5017 LVL= 27872, 23457, 24418, 23443, AGC= 68, IDX= 159,-0.06,-0.362,-2.174,-0.760,-0.735, PHS= 0.475,-1.394,-0.069, RAW= 133.6, 11.9, CAL= 133.0, 13.0, ROT= 17.0, -13.0
2025-09-20T20:21:53.790Z,1758399713.790 [DAT](INFO): DAT read: Bearing 254.1, 10.7 (Local)
2025-09-20T20:21:53.791Z,1758399713.791 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.1, 10.7 (Local)
2025-09-20T20:21:53.792Z,1758399713.792 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m (Round-trip 187.7 ms) speed 0.4 m/s
2025-09-20T20:21:53.793Z,1758399713.793 [DAT](INFO): DAT read: user:207>Tx time:20:21:56.6004
2025-09-20T20:21:53.794Z,1758399713.794 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:53.795Z,1758399713.795 [DAT](INFO): direction in FSK: [0.931795,0.284878,0.224951]
2025-09-20T20:21:53.795Z,1758399713.795 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:53.798Z,1758399713.798 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:21:53.799Z,1758399713.799 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:21:53.799Z,1758399713.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:53.938Z,1758399713.938 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -64, +55,A
2025-09-20T20:21:53.960Z,1758399713.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 140.699997 m,
deltaT: 3.527611 s,
deltaX: -1.900009 m,
approachRate: -0.538611 m/s,
rangeRepo size: 4
2025-09-20T20:21:53.962Z,1758399713.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 140.085358 m,
bearing: 105.753204 deg,
lat: 36.779172 deg,
lon: -121.859578 deg,
deltaT: 3.527611 s,
deltaX: -1.891693 m,
approachRate: -0.536253 m/s,
posRepo size: 4
2025-09-20T20:21:53.962Z,1758399713.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:53.965Z,1758399713.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 138.549850 m,
bearing: 101.931559 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.075109 deg/s,
cmd heading: 88.623064 deg,
new cmd heading: 88.696285 deg.
2025-09-20T20:21:53.966Z,1758399713.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548042 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:53.991Z,1758399713.991 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:21:54.033Z,1758399714.033 [DAT](INFO): DAT read:
2025-09-20T20:21:54.034Z,1758399714.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.756722
2025-09-20T20:21:54.284Z,1758399714.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.006990
2025-09-20T20:21:54.322Z,1758399714.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:54.324Z,1758399714.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:54.327Z,1758399714.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 138.364563 m,
bearing: 101.961416 deg,
approach rate: -0.506857 m/s,
LOS rate: 0.081781 deg/s,
cmd heading: 88.696283 deg,
new cmd heading: 88.756076 deg.
2025-09-20T20:21:54.328Z,1758399714.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549086 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:54.538Z,1758399714.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.260345
2025-09-20T20:21:54.789Z,1758399714.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.511748
2025-09-20T20:21:54.821Z,1758399714.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:54.823Z,1758399714.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 138.106155 m,
bearing: 102.000211 deg,
approach rate: -0.520690 m/s,
LOS rate: 0.078319 deg/s,
cmd heading: 88.756075 deg,
new cmd heading: 88.833810 deg.
2025-09-20T20:21:54.824Z,1758399714.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550442 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:55.040Z,1758399715.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.763525
2025-09-20T20:21:55.137Z,1758399715.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:55.140Z,1758399715.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 137.942642 m,
bearing: 102.024857 deg,
approach rate: -0.515894 m/s,
LOS rate: 0.077853 deg/s,
cmd heading: 88.833809 deg,
new cmd heading: 88.883160 deg.
2025-09-20T20:21:55.141Z,1758399715.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551304 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:55.292Z,1758399715.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.015214
2025-09-20T20:21:55.544Z,1758399715.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.267069
2025-09-20T20:21:55.552Z,1758399715.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:55.554Z,1758399715.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 137.737549 m,
bearing: 102.055887 deg,
approach rate: -0.495282 m/s,
LOS rate: 0.075045 deg/s,
cmd heading: 88.883157 deg,
new cmd heading: 88.945308 deg.
2025-09-20T20:21:55.559Z,1758399715.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.552388 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:55.797Z,1758399715.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.520086
2025-09-20T20:21:55.964Z,1758399715.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:55.966Z,1758399715.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 137.511993 m,
bearing: 102.090771 deg,
approach rate: -0.547008 m/s,
LOS rate: 0.084739 deg/s,
cmd heading: 88.945305 deg,
new cmd heading: 89.015189 deg.
2025-09-20T20:21:55.968Z,1758399715.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553608 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:56.049Z,1758399716.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.772198
2025-09-20T20:21:56.300Z,1758399716.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.023048
2025-09-20T20:21:56.348Z,1758399716.348 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:56.350Z,1758399716.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:56.353Z,1758399716.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 137.308792 m,
bearing: 102.122236 deg,
approach rate: -0.525965 m/s,
LOS rate: 0.081564 deg/s,
cmd heading: 89.015192 deg,
new cmd heading: 89.078214 deg.
2025-09-20T20:21:56.354Z,1758399716.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.554708 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:56.556Z,1758399716.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.279243
2025-09-20T20:21:56.804Z,1758399716.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.527211
2025-09-20T20:21:56.835Z,1758399716.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:56.838Z,1758399716.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 137.064011 m,
bearing: 102.161785 deg,
approach rate: -0.505154 m/s,
LOS rate: 0.081764 deg/s,
cmd heading: 89.078214 deg,
new cmd heading: 89.157454 deg.
2025-09-20T20:21:56.839Z,1758399716.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556091 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:57.056Z,1758399717.056 [DAT](INFO): DAT read: Rx Time:20:21:59.1898
2025-09-20T20:21:57.057Z,1758399717.057 [DAT](INFO): Rx dataTimestamp_ set to:1758399717.056941
2025-09-20T20:21:57.058Z,1758399717.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.780917
2025-09-20T20:21:57.175Z,1758399717.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.09 m.
2025-09-20T20:21:57.178Z,1758399717.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 140.085358 m,
nav range: 136.892090 m,
bearing: 102.189653 deg,
approach rate: -0.505587 m/s,
LOS rate: 0.082058 deg/s,
cmd heading: 89.157451 deg,
new cmd heading: 89.213257 deg.
2025-09-20T20:21:57.179Z,1758399717.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557065 target range: 140.085358 and range: 140.70 m.
2025-09-20T20:21:57.309Z,1758399717.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.032070
2025-09-20T20:21:57.566Z,1758399717.566 [DAT](INFO): DAT read: 20:21:59.1898 LVL= 25264, 32753, 27474, 32755, AGC= 68, IDX= 421,-0.02,-1.394, 2.964,-1.807,-1.781, PHS= 0.489,-1.493,-0.070, RAW= 134.1, 12.1, CAL= 133.5, 13.2, ROT= 16.5, -13.2
2025-09-20T20:21:57.567Z,1758399717.567 [DAT](INFO): got valid direction response:
20:21:59.1898 LVL= 25264, 32753, 27474, 32755, AGC= 68, IDX= 421,-0.02,-1.394, 2.964,-1.807,-1.781, PHS= 0.489,-1.493,-0.070, RAW= 134.1, 12.1, CAL= 133.5, 13.2, ROT= 16.5, -13.2
2025-09-20T20:21:57.568Z,1758399717.568 [DAT](INFO): DAT read: Bearing 253.5, 10.7 (Local)
2025-09-20T20:21:57.568Z,1758399717.568 [DAT](INFO): Local bearing/azimuth received:
Bearing 253.5, 10.7 (Local)
2025-09-20T20:21:57.570Z,1758399717.570 [DAT](INFO): DAT read: Range 11 to 50 : 138.9 m (Round-trip 185.2 ms) speed 0.4 m/s
2025-09-20T20:21:57.571Z,1758399717.571 [DAT](INFO): DAT read: Tx time:20:22:00.2536
2025-09-20T20:21:57.571Z,1758399717.571 [DAT](INFO): Ping request sent.
2025-09-20T20:21:57.571Z,1758399717.571 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:21:57.571Z,1758399717.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:21:57.572Z,1758399717.572 [DAT](INFO): direction in FSK: [0.933487,0.276511,0.228351]
2025-09-20T20:21:57.573Z,1758399717.573 [DAT](INFO): publishing transmit ping time
2025-09-20T20:21:57.573Z,1758399717.573 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:57.576Z,1758399717.576 [DAT](INFO): publishing transmit ping time
2025-09-20T20:21:57.576Z,1758399717.576 [DAT](INFO): publishing direction and range info
2025-09-20T20:21:57.623Z,1758399717.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 138.899994 m,
deltaT: 3.779683 s,
deltaX: -1.800003 m,
approachRate: -0.476231 m/s,
rangeRepo size: 4
2025-09-20T20:21:57.629Z,1758399717.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 138.292755 m,
bearing: 104.942427 deg,
lat: 36.779115 deg,
lon: -121.859580 deg,
deltaT: 3.779683 s,
deltaX: -1.792603 m,
approachRate: -0.474273 m/s,
posRepo size: 4
2025-09-20T20:21:57.630Z,1758399717.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:21:57.636Z,1758399717.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 137.946091 m,
bearing: 104.836429 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.082058 deg/s,
cmd heading: 89.213260 deg,
new cmd heading: 89.286631 deg.
2025-09-20T20:21:57.637Z,1758399717.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.558346 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:21:58.035Z,1758399718.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:21:58.038Z,1758399718.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 137.734497 m,
bearing: 104.875629 deg,
approach rate: -0.517067 m/s,
LOS rate: 0.095939 deg/s,
cmd heading: 89.286630 deg,
new cmd heading: 89.365150 deg.
2025-09-20T20:21:58.043Z,1758399718.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559716 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:21:58.430Z,1758399718.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:21:58.436Z,1758399718.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:21:58.443Z,1758399718.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 137.539764 m,
bearing: 104.911718 deg,
approach rate: -0.480556 m/s,
LOS rate: 0.089187 deg/s,
cmd heading: 89.365150 deg,
new cmd heading: 89.437431 deg.
2025-09-20T20:21:58.444Z,1758399718.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.560978 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:21:58.568Z,1758399718.568 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:21:58.568Z,1758399718.568 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:21:58.568Z,1758399718.568 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:21:58.820Z,1758399718.820 [DAT](INFO): DAT read: user:208>
2025-09-20T20:21:58.821Z,1758399718.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249564
2025-09-20T20:21:58.861Z,1758399718.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:21:58.864Z,1758399718.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 137.318939 m,
bearing: 104.951959 deg,
approach rate: -0.519592 m/s,
LOS rate: 0.094837 deg/s,
cmd heading: 89.437434 deg,
new cmd heading: 89.518044 deg.
2025-09-20T20:21:58.865Z,1758399718.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562385 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:21:59.072Z,1758399719.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500946
2025-09-20T20:21:59.192Z,1758399719.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:21:59.194Z,1758399719.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 137.156815 m,
bearing: 104.981510 deg,
approach rate: -0.490875 m/s,
LOS rate: 0.089580 deg/s,
cmd heading: 89.518044 deg,
new cmd heading: 89.577216 deg.
2025-09-20T20:21:59.195Z,1758399719.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563417 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:21:59.324Z,1758399719.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753040
2025-09-20T20:21:59.576Z,1758399719.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005042
2025-09-20T20:21:59.598Z,1758399719.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:21:59.600Z,1758399719.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 136.957260 m,
bearing: 105.017954 deg,
approach rate: -0.491561 m/s,
LOS rate: 0.089903 deg/s,
cmd heading: 89.577214 deg,
new cmd heading: 89.650208 deg.
2025-09-20T20:21:59.601Z,1758399719.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.564691 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:21:59.830Z,1758399719.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259001
2025-09-20T20:22:00.024Z,1758399720.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:22:00.027Z,1758399720.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 136.747101 m,
bearing: 105.057761 deg,
approach rate: -0.492563 m/s,
LOS rate: 0.093441 deg/s,
cmd heading: 89.650208 deg,
new cmd heading: 89.729944 deg.
2025-09-20T20:22:00.028Z,1758399720.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.566083 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:22:00.081Z,1758399720.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509808
2025-09-20T20:22:00.332Z,1758399720.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760886
2025-09-20T20:22:00.417Z,1758399720.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:22:00.420Z,1758399720.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 136.552811 m,
bearing: 105.094599 deg,
approach rate: -0.494460 m/s,
LOS rate: 0.093883 deg/s,
cmd heading: 89.729944 deg,
new cmd heading: 89.803723 deg.
2025-09-20T20:22:00.421Z,1758399720.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567371 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:22:00.584Z,1758399720.584 [DAT](INFO): DAT read: Rx Time:20:22:02.8403
2025-09-20T20:22:00.584Z,1758399720.584 [DAT](INFO): Rx dataTimestamp_ set to:1758399720.584172
2025-09-20T20:22:00.585Z,1758399720.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013943
2025-09-20T20:22:00.836Z,1758399720.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264986
2025-09-20T20:22:00.887Z,1758399720.887 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:00.889Z,1758399720.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.29 m.
2025-09-20T20:22:00.892Z,1758399720.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 138.292755 m,
nav range: 136.306732 m,
bearing: 105.139987 deg,
approach rate: -0.521341 m/s,
LOS rate: 0.096332 deg/s,
cmd heading: 89.803723 deg,
new cmd heading: 89.894663 deg.
2025-09-20T20:22:00.893Z,1758399720.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568958 target range: 138.292755 and range: 138.90 m.
2025-09-20T20:22:01.110Z,1758399721.110 [DAT](INFO): DAT read: 20:22:02.8403 LVL= 29088, 32241, 32754, 32755, AGC= 67, IDX= 155,-0.46, 2.101, 0.214, 1.712, 1.682, PHS= 0.521,-1.423,-0.014, RAW= 134.5, 10.5, CAL= 134.2, 11.6, ROT= 15.8, -11.6
2025-09-20T20:22:01.119Z,1758399721.119 [DAT](INFO): got valid direction response:
20:22:02.8403 LVL= 29088, 32241, 32754, 32755, AGC= 67, IDX= 155,-0.46, 2.101, 0.214, 1.712, 1.682, PHS= 0.521,-1.423,-0.014, RAW= 134.5, 10.5, CAL= 134.2, 11.6, ROT= 15.8, -11.6
2025-09-20T20:22:01.123Z,1758399721.123 [DAT](INFO): DAT read: Bearing 252.5, 10.7 (Local)
2025-09-20T20:22:01.124Z,1758399721.124 [DAT](INFO): Local bearing/azimuth received:
Bearing 252.5, 10.7 (Local)
2025-09-20T20:22:01.126Z,1758399721.126 [DAT](INFO): DAT read: Range 11 to 50 : 136.9 m (Round-trip 182.6 ms) speed 0.9 m/s
2025-09-20T20:22:01.158Z,1758399721.158 [DAT](INFO): DAT read: Tx time:20:22:03.9036
2025-09-20T20:22:01.175Z,1758399721.175 [DAT](INFO): Ping request sent.
2025-09-20T20:22:01.175Z,1758399721.175 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:01.176Z,1758399721.176 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:01.176Z,1758399721.176 [DAT](INFO): direction in FSK: [0.942565,0.266719,0.201078]
2025-09-20T20:22:01.177Z,1758399721.177 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:01.177Z,1758399721.177 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:01.184Z,1758399721.184 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:01.185Z,1758399721.185 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:01.285Z,1758399721.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 136.899994 m,
deltaT: 3.532025 s,
deltaX: -2.000000 m,
approachRate: -0.566247 m/s,
rangeRepo size: 4
2025-09-20T20:22:01.292Z,1758399721.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 136.299759 m,
bearing: 104.701122 deg,
lat: 36.779115 deg,
lon: -121.859585 deg,
deltaT: 3.532025 s,
deltaX: -1.992996 m,
approachRate: -0.564264 m/s,
posRepo size: 4
2025-09-20T20:22:01.292Z,1758399721.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:01.299Z,1758399721.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 135.725601 m,
bearing: 105.220407 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.096332 deg/s,
cmd heading: 89.894660 deg,
new cmd heading: 89.970881 deg.
2025-09-20T20:22:01.300Z,1758399721.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.570288 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:01.629Z,1758399721.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:01.632Z,1758399721.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 135.537704 m,
bearing: 105.255236 deg,
approach rate: -0.546016 m/s,
LOS rate: 0.101353 deg/s,
cmd heading: 89.970879 deg,
new cmd heading: 90.040634 deg.
2025-09-20T20:22:01.633Z,1758399721.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571506 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:02.056Z,1758399722.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:02.059Z,1758399722.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 135.320908 m,
bearing: 105.295952 deg,
approach rate: -0.507293 m/s,
LOS rate: 0.095425 deg/s,
cmd heading: 90.040635 deg,
new cmd heading: 90.122197 deg.
2025-09-20T20:22:02.060Z,1758399722.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572929 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:02.481Z,1758399722.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:02.492Z,1758399722.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 135.117737 m,
bearing: 105.334239 deg,
approach rate: -0.478512 m/s,
LOS rate: 0.090309 deg/s,
cmd heading: 90.122195 deg,
new cmd heading: 90.198883 deg.
2025-09-20T20:22:02.493Z,1758399722.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574268 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:02.966Z,1758399722.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:02.973Z,1758399722.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:02.995Z,1758399722.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 134.855942 m,
bearing: 105.384968 deg,
approach rate: -0.532533 m/s,
LOS rate: 0.103391 deg/s,
cmd heading: 90.198884 deg,
new cmd heading: 90.300538 deg.
2025-09-20T20:22:02.996Z,1758399722.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576042 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:03.108Z,1758399723.108 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:03.108Z,1758399723.108 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:03.108Z,1758399723.108 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:03.360Z,1758399723.360 [DAT](INFO): DAT read: user:209>
2025-09-20T20:22:03.361Z,1758399723.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.185849
2025-09-20T20:22:03.434Z,1758399723.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:03.445Z,1758399723.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 134.616470 m,
bearing: 105.431231 deg,
approach rate: -0.519078 m/s,
LOS rate: 0.100459 deg/s,
cmd heading: 90.300538 deg,
new cmd heading: 90.393229 deg.
2025-09-20T20:22:03.446Z,1758399723.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.577659 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:03.612Z,1758399723.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.437053
2025-09-20T20:22:03.867Z,1758399723.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.691105
2025-09-20T20:22:03.899Z,1758399723.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:03.902Z,1758399723.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 134.410294 m,
bearing: 105.471052 deg,
approach rate: -0.450947 m/s,
LOS rate: 0.087229 deg/s,
cmd heading: 90.393230 deg,
new cmd heading: 90.472994 deg.
2025-09-20T20:22:03.911Z,1758399723.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579052 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:04.116Z,1758399724.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940911
2025-09-20T20:22:04.329Z,1758399724.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:04.340Z,1758399724.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 134.151169 m,
bearing: 105.520577 deg,
approach rate: -0.591758 m/s,
LOS rate: 0.113319 deg/s,
cmd heading: 90.472993 deg,
new cmd heading: 90.572235 deg.
2025-09-20T20:22:04.341Z,1758399724.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580784 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:04.368Z,1758399724.368 [DAT](INFO): DAT read: Rx Time:20:22:06.4875
2025-09-20T20:22:04.369Z,1758399724.369 [DAT](INFO): Rx dataTimestamp_ set to:1758399724.368302
2025-09-20T20:22:04.369Z,1758399724.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193934
2025-09-20T20:22:04.623Z,1758399724.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.448081
2025-09-20T20:22:04.670Z,1758399724.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.30 m.
2025-09-20T20:22:04.699Z,1758399724.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 136.299759 m,
nav range: 133.959671 m,
bearing: 105.557135 deg,
approach rate: -0.562057 m/s,
LOS rate: 0.107453 deg/s,
cmd heading: 90.572236 deg,
new cmd heading: 90.645456 deg.
2025-09-20T20:22:04.738Z,1758399724.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582062 target range: 136.299759 and range: 136.90 m.
2025-09-20T20:22:04.891Z,1758399724.891 [DAT](INFO): DAT read: 20:22:06.4875 LVL= 32752, 32753, 32754, 28099, AGC= 68, IDX= 159,-0.34, 2.605, 0.785, 2.285, 2.244, PHS= 0.464,-1.413,-0.003, RAW= 136.2, 11.3, CAL= 135.7, 12.3, ROT= 14.3, -12.3
2025-09-20T20:22:04.893Z,1758399724.893 [DAT](INFO): got valid direction response:
20:22:06.4875 LVL= 32752, 32753, 32754, 28099, AGC= 68, IDX= 159,-0.34, 2.605, 0.785, 2.285, 2.244, PHS= 0.464,-1.413,-0.003, RAW= 136.2, 11.3, CAL= 135.7, 12.3, ROT= 14.3, -12.3
2025-09-20T20:22:04.893Z,1758399724.893 [DAT](INFO): DAT read: Bearing 253.9, 9.4 (Local)
2025-09-20T20:22:04.894Z,1758399724.894 [DAT](INFO): Local bearing/azimuth received:
Bearing 253.9, 9.4 (Local)
2025-09-20T20:22:04.911Z,1758399724.911 [DAT](INFO): DAT read: Range 11 to 50 : 134.8 m (Round-trip 179.8 ms) speed 0.4 m/s
2025-09-20T20:22:04.913Z,1758399724.913 [DAT](INFO): DAT read: Tx time:20:22:07.5504
2025-09-20T20:22:04.913Z,1758399724.913 [DAT](INFO): Ping request sent.
2025-09-20T20:22:04.913Z,1758399724.913 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:04.914Z,1758399724.914 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:04.925Z,1758399724.925 [DAT](INFO): direction in FSK: [0.946773,0.241329,0.213030]
2025-09-20T20:22:04.926Z,1758399724.926 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:04.935Z,1758399724.935 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:04.938Z,1758399724.938 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:04.938Z,1758399724.938 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:05.198Z,1758399725.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 134.800003 m,
deltaT: 3.785671 s,
deltaX: -2.099991 m,
approachRate: -0.554721 m/s,
rangeRepo size: 4
2025-09-20T20:22:05.208Z,1758399725.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 134.208557 m,
bearing: 104.001893 deg,
lat: 36.779115 deg,
lon: -121.859585 deg,
deltaT: 3.785671 s,
deltaX: -2.091202 m,
approachRate: -0.552399 m/s,
posRepo size: 4
2025-09-20T20:22:05.209Z,1758399725.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:05.222Z,1758399725.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 133.684601 m,
bearing: 105.609037 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.107453 deg/s,
cmd heading: 90.645455 deg,
new cmd heading: 90.758826 deg.
2025-09-20T20:22:05.236Z,1758399725.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.584040 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:05.632Z,1758399725.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:05.634Z,1758399725.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:05.645Z,1758399725.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 133.441818 m,
bearing: 105.654832 deg,
approach rate: -0.555644 m/s,
LOS rate: 0.105000 deg/s,
cmd heading: 90.758830 deg,
new cmd heading: 90.850586 deg.
2025-09-20T20:22:05.646Z,1758399725.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585642 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:05.887Z,1758399725.887 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:05.888Z,1758399725.888 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:05.889Z,1758399725.889 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:06.090Z,1758399726.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:06.097Z,1758399726.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 133.196548 m,
bearing: 105.702110 deg,
approach rate: -0.538462 m/s,
LOS rate: 0.103983 deg/s,
cmd heading: 90.850586 deg,
new cmd heading: 90.945315 deg.
2025-09-20T20:22:06.098Z,1758399726.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587295 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:06.140Z,1758399726.140 [DAT](INFO): DAT read: user:210>
2025-09-20T20:22:06.141Z,1758399726.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.227611
2025-09-20T20:22:06.394Z,1758399726.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481181
2025-09-20T20:22:06.541Z,1758399726.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:06.548Z,1758399726.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 132.963577 m,
bearing: 105.746998 deg,
approach rate: -0.516498 m/s,
LOS rate: 0.099691 deg/s,
cmd heading: 90.945314 deg,
new cmd heading: 91.035247 deg.
2025-09-20T20:22:06.549Z,1758399726.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588865 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:06.645Z,1758399726.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.731989
2025-09-20T20:22:06.899Z,1758399726.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985269
2025-09-20T20:22:07.057Z,1758399727.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:07.066Z,1758399727.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 132.665894 m,
bearing: 105.805349 deg,
approach rate: -0.576484 m/s,
LOS rate: 0.113254 deg/s,
cmd heading: 91.035247 deg,
new cmd heading: 91.152212 deg.
2025-09-20T20:22:07.071Z,1758399727.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590906 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:07.148Z,1758399727.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.235087
2025-09-20T20:22:07.400Z,1758399727.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.487251
2025-09-20T20:22:07.478Z,1758399727.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:07.489Z,1758399727.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 132.442856 m,
bearing: 105.849098 deg,
approach rate: -0.530194 m/s,
LOS rate: 0.104173 deg/s,
cmd heading: 91.152214 deg,
new cmd heading: 91.239860 deg.
2025-09-20T20:22:07.490Z,1758399727.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592436 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:07.652Z,1758399727.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739165
2025-09-20T20:22:07.908Z,1758399727.908 [DAT](INFO): DAT read: Rx Time:20:22:10.1317
2025-09-20T20:22:07.910Z,1758399727.910 [DAT](INFO): Rx dataTimestamp_ set to:1758399727.909156
2025-09-20T20:22:07.912Z,1758399727.912 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998625
2025-09-20T20:22:07.921Z,1758399727.921 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:07.938Z,1758399727.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:07.951Z,1758399727.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 132.224670 m,
bearing: 105.891869 deg,
approach rate: -0.475326 m/s,
LOS rate: 0.093333 deg/s,
cmd heading: 91.239859 deg,
new cmd heading: 91.325543 deg.
2025-09-20T20:22:07.956Z,1758399727.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593931 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:08.156Z,1758399728.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242954
2025-09-20T20:22:08.341Z,1758399728.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.21 m.
2025-09-20T20:22:08.344Z,1758399728.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 134.208557 m,
nav range: 131.976349 m,
bearing: 105.940390 deg,
approach rate: -0.614067 m/s,
LOS rate: 0.120211 deg/s,
cmd heading: 91.325544 deg,
new cmd heading: 91.422768 deg.
2025-09-20T20:22:08.345Z,1758399728.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595628 target range: 134.208557 and range: 134.80 m.
2025-09-20T20:22:08.417Z,1758399728.417 [DAT](INFO): DAT read: 20:22:10.1317 LVL= 32496, 32753, 31410, 32755, AGC= 67, IDX= 419,-0.45,-2.433, 2.034,-2.762,-2.789, PHS= 0.458,-1.416,-0.017, RAW= 135.9, 11.5, CAL= 135.3, 12.6, ROT= 14.7, -12.6
2025-09-20T20:22:08.418Z,1758399728.418 [DAT](INFO): got valid direction response:
20:22:10.1317 LVL= 32496, 32753, 31410, 32755, AGC= 67, IDX= 419,-0.45,-2.433, 2.034,-2.762,-2.789, PHS= 0.458,-1.416,-0.017, RAW= 135.9, 11.5, CAL= 135.3, 12.6, ROT= 14.7, -12.6
2025-09-20T20:22:08.419Z,1758399728.419 [DAT](INFO): DAT read: Bearing 254.9, 9.9 (Local)
2025-09-20T20:22:08.420Z,1758399728.420 [DAT](INFO): Local bearing/azimuth received:
Bearing 254.9, 9.9 (Local)
2025-09-20T20:22:08.421Z,1758399728.421 [DAT](INFO): DAT read: Range 11 to 50 : 132.8 m (Round-trip 177.1 ms) speed 0.8 m/s
2025-09-20T20:22:08.422Z,1758399728.422 [DAT](INFO): DAT read: user:211>Tx time:20:22:11.2004
2025-09-20T20:22:08.423Z,1758399728.423 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:08.424Z,1758399728.424 [DAT](INFO): direction in FSK: [0.943973,0.247647,0.218143]
2025-09-20T20:22:08.424Z,1758399728.424 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:08.428Z,1758399728.428 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:08.428Z,1758399728.428 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:08.428Z,1758399728.428 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:08.660Z,1758399728.660 [DAT](INFO): DAT read:
2025-09-20T20:22:08.661Z,1758399728.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.748206
2025-09-20T20:22:08.793Z,1758399728.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 132.800003 m,
deltaT: 3.532439 s,
deltaX: -2.000000 m,
approachRate: -0.566181 m/s,
rangeRepo size: 4
2025-09-20T20:22:08.800Z,1758399728.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 132.217239 m,
bearing: 105.142780 deg,
lat: 36.779126 deg,
lon: -121.859589 deg,
deltaT: 3.532439 s,
deltaX: -1.991318 m,
approachRate: -0.563723 m/s,
posRepo size: 4
2025-09-20T20:22:08.800Z,1758399728.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:08.807Z,1758399728.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 131.099060 m,
bearing: 105.487893 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.120211 deg/s,
cmd heading: 91.422765 deg,
new cmd heading: 91.531359 deg.
2025-09-20T20:22:08.808Z,1758399728.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597524 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:08.917Z,1758399728.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.003002
2025-09-20T20:22:09.164Z,1758399729.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.250765
2025-09-20T20:22:09.242Z,1758399729.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:09.250Z,1758399729.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 130.867828 m,
bearing: 105.530416 deg,
approach rate: -0.517076 m/s,
LOS rate: 0.095257 deg/s,
cmd heading: 91.531358 deg,
new cmd heading: 91.616554 deg.
2025-09-20T20:22:09.250Z,1758399729.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.599010 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:09.416Z,1758399729.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.502952
2025-09-20T20:22:09.605Z,1758399729.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:09.608Z,1758399729.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 130.652908 m,
bearing: 105.569875 deg,
approach rate: -0.589083 m/s,
LOS rate: 0.108334 deg/s,
cmd heading: 91.616551 deg,
new cmd heading: 91.695600 deg.
2025-09-20T20:22:09.609Z,1758399729.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.600390 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:09.669Z,1758399729.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.755874
2025-09-20T20:22:09.923Z,1758399729.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.009089
2025-09-20T20:22:10.071Z,1758399730.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:10.073Z,1758399730.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:10.076Z,1758399730.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 130.404526 m,
bearing: 105.617165 deg,
approach rate: -0.529978 m/s,
LOS rate: 0.101096 deg/s,
cmd heading: 91.695597 deg,
new cmd heading: 91.790357 deg.
2025-09-20T20:22:10.077Z,1758399730.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.602044 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:10.172Z,1758399730.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.259098
2025-09-20T20:22:10.411Z,1758399730.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:10.413Z,1758399730.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 130.225510 m,
bearing: 105.651312 deg,
approach rate: -0.531131 m/s,
LOS rate: 0.101451 deg/s,
cmd heading: 91.790359 deg,
new cmd heading: 91.858746 deg.
2025-09-20T20:22:10.414Z,1758399730.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603238 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:10.424Z,1758399730.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.511061
2025-09-20T20:22:10.677Z,1758399730.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.763771
2025-09-20T20:22:10.819Z,1758399730.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:10.821Z,1758399730.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 130.009018 m,
bearing: 105.692650 deg,
approach rate: -0.530423 m/s,
LOS rate: 0.101450 deg/s,
cmd heading: 91.858750 deg,
new cmd heading: 91.941563 deg.
2025-09-20T20:22:10.822Z,1758399730.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.604683 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:10.933Z,1758399730.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.019374
2025-09-20T20:22:11.180Z,1758399731.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.267005
2025-09-20T20:22:11.265Z,1758399731.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:11.269Z,1758399731.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 129.772614 m,
bearing: 105.735534 deg,
approach rate: -0.529455 m/s,
LOS rate: 0.096218 deg/s,
cmd heading: 91.941566 deg,
new cmd heading: 92.027489 deg.
2025-09-20T20:22:11.270Z,1758399731.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.606183 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:11.432Z,1758399731.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.518917
2025-09-20T20:22:11.628Z,1758399731.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:11.630Z,1758399731.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 129.580704 m,
bearing: 105.770312 deg,
approach rate: -0.529522 m/s,
LOS rate: 0.096102 deg/s,
cmd heading: 92.027490 deg,
new cmd heading: 92.097148 deg.
2025-09-20T20:22:11.631Z,1758399731.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.607399 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:11.685Z,1758399731.685 [DAT](INFO): DAT read: Rx Time:20:22:13.7791
2025-09-20T20:22:11.686Z,1758399731.686 [DAT](INFO): Rx dataTimestamp_ set to:1758399731.685561
2025-09-20T20:22:11.687Z,1758399731.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.773737
2025-09-20T20:22:11.936Z,1758399731.936 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.023052
2025-09-20T20:22:12.100Z,1758399732.100 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:12.102Z,1758399732.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 132.22 m.
2025-09-20T20:22:12.105Z,1758399732.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 132.217239 m,
nav range: 129.331589 m,
bearing: 105.816719 deg,
approach rate: -0.524814 m/s,
LOS rate: 0.097955 deg/s,
cmd heading: 92.097151 deg,
new cmd heading: 92.190144 deg.
2025-09-20T20:22:12.106Z,1758399732.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.609022 target range: 132.217239 and range: 132.80 m.
2025-09-20T20:22:12.199Z,1758399732.199 [DAT](INFO): DAT read: 20:22:13.7791 LVL= 29248, 32753, 30434, 32755, AGC= 67, IDX= 407,-0.17,-0.012,-1.909,-0.380,-0.406, PHS= 0.496,-1.458,-0.018, RAW= 135.3, 11.2, CAL= 134.8, 12.2, ROT= 15.2, -12.2
2025-09-20T20:22:12.201Z,1758399732.201 [DAT](INFO): got valid direction response:
20:22:13.7791 LVL= 29248, 32753, 30434, 32755, AGC= 67, IDX= 407,-0.17,-0.012,-1.909,-0.380,-0.406, PHS= 0.496,-1.458,-0.018, RAW= 135.3, 11.2, CAL= 134.8, 12.2, ROT= 15.2, -12.2
2025-09-20T20:22:12.203Z,1758399732.203 [DAT](INFO): DAT read: Bearing 255.2, 10.6 (Local)
2025-09-20T20:22:12.203Z,1758399732.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 255.2, 10.6 (Local)
2025-09-20T20:22:12.206Z,1758399732.206 [DAT](INFO): DAT read: Range 11 to 50 : 130.8 m (Round-trip 174.5 ms) speed 0.6 m/s
2025-09-20T20:22:12.208Z,1758399732.208 [DAT](INFO): DAT read: user:212>Tx time:20:22:14.8504
2025-09-20T20:22:12.209Z,1758399732.209 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:12.210Z,1758399732.210 [DAT](INFO): direction in FSK: [0.943222,0.256268,0.211325]
2025-09-20T20:22:12.223Z,1758399732.223 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:12.238Z,1758399732.238 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:12.238Z,1758399732.238 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:12.238Z,1758399732.238 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:12.440Z,1758399732.440 [DAT](INFO): DAT read:
2025-09-20T20:22:12.441Z,1758399732.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.527810
2025-09-20T20:22:12.473Z,1758399732.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 130.800003 m,
deltaT: 3.778558 s,
deltaX: -2.000000 m,
approachRate: -0.529302 m/s,
rangeRepo size: 4
2025-09-20T20:22:12.475Z,1758399732.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 130.224777 m,
bearing: 106.041869 deg,
lat: 36.779126 deg,
lon: -121.859589 deg,
deltaT: 3.778558 s,
deltaX: -1.992462 m,
approachRate: -0.527308 m/s,
posRepo size: 4
2025-09-20T20:22:12.475Z,1758399732.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:12.478Z,1758399732.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 129.150467 m,
bearing: 105.850586 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.097955 deg/s,
cmd heading: 92.190144 deg,
new cmd heading: 92.262554 deg.
2025-09-20T20:22:12.479Z,1758399732.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.610285 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:12.693Z,1758399732.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.780158
2025-09-20T20:22:12.837Z,1758399732.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:12.839Z,1758399732.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 128.946060 m,
bearing: 105.888706 deg,
approach rate: -0.560431 m/s,
LOS rate: 0.104681 deg/s,
cmd heading: 92.262557 deg,
new cmd heading: 92.338918 deg.
2025-09-20T20:22:12.840Z,1758399732.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.611618 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:12.948Z,1758399732.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.034318
2025-09-20T20:22:13.198Z,1758399733.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.284420
2025-09-20T20:22:13.286Z,1758399733.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:13.289Z,1758399733.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 128.704956 m,
bearing: 105.932469 deg,
approach rate: -0.536591 m/s,
LOS rate: 0.097580 deg/s,
cmd heading: 92.338919 deg,
new cmd heading: 92.426609 deg.
2025-09-20T20:22:13.290Z,1758399733.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.613149 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:13.448Z,1758399733.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.535018
2025-09-20T20:22:13.685Z,1758399733.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:13.687Z,1758399733.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 128.496597 m,
bearing: 105.970435 deg,
approach rate: -0.522779 m/s,
LOS rate: 0.095412 deg/s,
cmd heading: 92.426612 deg,
new cmd heading: 92.502666 deg.
2025-09-20T20:22:13.688Z,1758399733.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.614476 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:13.701Z,1758399733.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.787730
2025-09-20T20:22:13.953Z,1758399733.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.039372
2025-09-20T20:22:14.101Z,1758399734.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:14.103Z,1758399734.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:14.121Z,1758399734.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 128.270966 m,
bearing: 106.012134 deg,
approach rate: -0.539604 m/s,
LOS rate: 0.099899 deg/s,
cmd heading: 92.502666 deg,
new cmd heading: 92.586210 deg.
2025-09-20T20:22:14.122Z,1758399734.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.615934 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:14.205Z,1758399734.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.292225
2025-09-20T20:22:14.456Z,1758399734.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.543012
2025-09-20T20:22:14.477Z,1758399734.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:14.480Z,1758399734.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 128.072922 m,
bearing: 106.048724 deg,
approach rate: -0.529065 m/s,
LOS rate: 0.097901 deg/s,
cmd heading: 92.586213 deg,
new cmd heading: 92.659507 deg.
2025-09-20T20:22:14.481Z,1758399734.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.617213 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:14.709Z,1758399734.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.796334
2025-09-20T20:22:14.887Z,1758399734.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:14.890Z,1758399734.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 127.864761 m,
bearing: 106.087152 deg,
approach rate: -0.528248 m/s,
LOS rate: 0.097676 deg/s,
cmd heading: 92.659507 deg,
new cmd heading: 92.736487 deg.
2025-09-20T20:22:14.891Z,1758399734.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618557 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:14.962Z,1758399734.962 [DAT](INFO): Reached modem response timeout
2025-09-20T20:22:14.962Z,1758399734.962 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:22:14.963Z,1758399734.963 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:15.213Z,1758399735.213 [DAT](INFO): DAT read: Rx Time:20:22:17.4262
2025-09-20T20:22:15.214Z,1758399735.214 [DAT](INFO): Rx dataTimestamp_ set to:1758399735.213358
2025-09-20T20:22:15.215Z,1758399735.215 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:22:15.327Z,1758399735.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.22 m.
2025-09-20T20:22:15.329Z,1758399735.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 130.224777 m,
nav range: 127.612885 m,
bearing: 106.133564 deg,
approach rate: -0.552940 m/s,
LOS rate: 0.102089 deg/s,
cmd heading: 92.736490 deg,
new cmd heading: 92.829499 deg.
2025-09-20T20:22:15.330Z,1758399735.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.620180 target range: 130.224777 and range: 130.80 m.
2025-09-20T20:22:15.464Z,1758399735.464 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:22:15.728Z,1758399735.728 [DAT](INFO): DAT read: 20:22:17.4262 LVL= 24512, 31553, 26098, 32755, AGC= 69, IDX= 410, 0.20, 2.816, 0.882, 2.468, 2.418, PHS= 0.500,-1.491, 0.006, RAW= 136.2, 11.0, CAL= 135.7, 12.0, ROT= 14.3, -12.0
2025-09-20T20:22:15.729Z,1758399735.729 [DAT](INFO): got valid direction response:
20:22:17.4262 LVL= 24512, 31553, 26098, 32755, AGC= 69, IDX= 410, 0.20, 2.816, 0.882, 2.468, 2.418, PHS= 0.500,-1.491, 0.006, RAW= 136.2, 11.0, CAL= 135.7, 12.0, ROT= 14.3, -12.0
2025-09-20T20:22:15.730Z,1758399735.730 [DAT](INFO): DAT read: Bearing 255.7, 9.8 (Local)
2025-09-20T20:22:15.730Z,1758399735.730 [DAT](INFO): Local bearing/azimuth received:
Bearing 255.7, 9.8 (Local)
2025-09-20T20:22:15.732Z,1758399735.732 [DAT](INFO): DAT read: Range 11 to 50 : 128.7 m (Round-trip 171.6 ms) speed 0.4 m/s
2025-09-20T20:22:15.743Z,1758399735.743 [DAT](INFO): DAT read: user:213>
2025-09-20T20:22:15.744Z,1758399735.744 [DAT](INFO): DAT read: Tx time:20:22:18.5004
2025-09-20T20:22:15.744Z,1758399735.744 [DAT](INFO): Ping request sent.
2025-09-20T20:22:15.744Z,1758399735.744 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:15.744Z,1758399735.744 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:15.745Z,1758399735.745 [DAT](INFO): direction in FSK: [0.947840,0.241601,0.207912]
2025-09-20T20:22:15.746Z,1758399735.746 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:15.746Z,1758399735.746 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:15.754Z,1758399735.754 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:15.754Z,1758399735.754 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:15.811Z,1758399735.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 128.699997 m,
deltaT: 3.528517 s,
deltaX: -2.100006 m,
approachRate: -0.595153 m/s,
rangeRepo size: 4
2025-09-20T20:22:15.813Z,1758399735.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 128.134216 m,
bearing: 105.787573 deg,
lat: 36.779134 deg,
lon: -121.859589 deg,
deltaT: 3.528517 s,
deltaX: -2.090561 m,
approachRate: -0.592476 m/s,
posRepo size: 4
2025-09-20T20:22:15.814Z,1758399735.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:15.825Z,1758399735.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 127.147964 m,
bearing: 105.823082 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.102089 deg/s,
cmd heading: 92.829497 deg,
new cmd heading: 92.920869 deg.
2025-09-20T20:22:15.826Z,1758399735.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.621775 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:16.178Z,1758399736.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:16.181Z,1758399736.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 126.909447 m,
bearing: 105.867122 deg,
approach rate: -0.590342 m/s,
LOS rate: 0.109207 deg/s,
cmd heading: 92.920871 deg,
new cmd heading: 93.009118 deg.
2025-09-20T20:22:16.182Z,1758399736.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623315 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:16.513Z,1758399736.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:16.515Z,1758399736.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:16.518Z,1758399736.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 126.717232 m,
bearing: 105.902521 deg,
approach rate: -0.570952 m/s,
LOS rate: 0.105306 deg/s,
cmd heading: 93.009117 deg,
new cmd heading: 93.080022 deg.
2025-09-20T20:22:16.518Z,1758399736.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.624553 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:16.728Z,1758399736.728 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:16.728Z,1758399736.728 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:16.728Z,1758399736.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:16.911Z,1758399736.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:16.914Z,1758399736.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 126.493401 m,
bearing: 105.943681 deg,
approach rate: -0.565267 m/s,
LOS rate: 0.104130 deg/s,
cmd heading: 93.080022 deg,
new cmd heading: 93.162487 deg.
2025-09-20T20:22:16.914Z,1758399736.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.625992 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:16.981Z,1758399736.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236632
2025-09-20T20:22:17.232Z,1758399737.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487789
2025-09-20T20:22:17.349Z,1758399737.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:17.352Z,1758399737.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 126.249130 m,
bearing: 105.989430 deg,
approach rate: -0.557574 m/s,
LOS rate: 0.104630 deg/s,
cmd heading: 93.162489 deg,
new cmd heading: 93.254165 deg.
2025-09-20T20:22:17.353Z,1758399737.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.627592 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:17.484Z,1758399737.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740073
2025-09-20T20:22:17.740Z,1758399737.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995402
2025-09-20T20:22:17.755Z,1758399737.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:17.779Z,1758399737.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 126.020676 m,
bearing: 106.032390 deg,
approach rate: -0.563466 m/s,
LOS rate: 0.106151 deg/s,
cmd heading: 93.254164 deg,
new cmd heading: 93.340241 deg.
2025-09-20T20:22:17.781Z,1758399737.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629094 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:17.988Z,1758399737.988 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243767
2025-09-20T20:22:18.171Z,1758399738.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:18.173Z,1758399738.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 125.792030 m,
bearing: 106.075492 deg,
approach rate: -0.549082 m/s,
LOS rate: 0.103696 deg/s,
cmd heading: 93.340238 deg,
new cmd heading: 93.426599 deg.
2025-09-20T20:22:18.174Z,1758399738.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.630602 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:18.241Z,1758399738.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496746
2025-09-20T20:22:18.492Z,1758399738.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.747701
2025-09-20T20:22:18.524Z,1758399738.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:18.526Z,1758399738.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:18.549Z,1758399738.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 125.597496 m,
bearing: 106.112121 deg,
approach rate: -0.547817 m/s,
LOS rate: 0.103308 deg/s,
cmd heading: 93.426599 deg,
new cmd heading: 93.499970 deg.
2025-09-20T20:22:18.550Z,1758399738.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.631882 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:18.744Z,1758399738.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999795
2025-09-20T20:22:18.935Z,1758399738.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:18.942Z,1758399738.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 125.373001 m,
bearing: 106.154330 deg,
approach rate: -0.549237 m/s,
LOS rate: 0.103451 deg/s,
cmd heading: 93.499969 deg,
new cmd heading: 93.584538 deg.
2025-09-20T20:22:18.960Z,1758399738.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.633358 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:18.996Z,1758399738.996 [DAT](INFO): DAT read: Rx Time:20:22:21.0734
2025-09-20T20:22:18.997Z,1758399738.997 [DAT](INFO): Rx dataTimestamp_ set to:1758399738.996258
2025-09-20T20:22:18.997Z,1758399738.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.252884
2025-09-20T20:22:19.248Z,1758399739.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503773
2025-09-20T20:22:19.401Z,1758399739.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.13 m.
2025-09-20T20:22:19.404Z,1758399739.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 128.134216 m,
nav range: 125.118820 m,
bearing: 106.201707 deg,
approach rate: -0.544637 m/s,
LOS rate: 0.101722 deg/s,
cmd heading: 93.584540 deg,
new cmd heading: 93.679488 deg.
2025-09-20T20:22:19.405Z,1758399739.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.635015 target range: 128.134216 and range: 128.70 m.
2025-09-20T20:22:19.506Z,1758399739.506 [DAT](INFO): DAT read: 20:22:21.0734 LVL= 29168, 32753, 27266, 32755, AGC= 69, IDX= 413,-0.01, 0.755,-1.113, 0.451, 0.382, PHS= 0.476,-1.450, 0.025, RAW= 137.1, 10.9, CAL= 136.6, 11.9, ROT= 13.4, -11.9
2025-09-20T20:22:19.509Z,1758399739.509 [DAT](INFO): got valid direction response:
20:22:21.0734 LVL= 29168, 32753, 27266, 32755, AGC= 69, IDX= 413,-0.01, 0.755,-1.113, 0.451, 0.382, PHS= 0.476,-1.450, 0.025, RAW= 137.1, 10.9, CAL= 136.6, 11.9, ROT= 13.4, -11.9
2025-09-20T20:22:19.510Z,1758399739.510 [DAT](INFO): DAT read: Bearing 256.5, 8.9 (Local)
2025-09-20T20:22:19.510Z,1758399739.510 [DAT](INFO): Local bearing/azimuth received:
Bearing 256.5, 8.9 (Local)
2025-09-20T20:22:19.513Z,1758399739.513 [DAT](INFO): DAT read: Range 11 to 50 : 126.6 m (Round-trip 168.8 ms) speed 0.8 m/s
2025-09-20T20:22:19.513Z,1758399739.513 [DAT](INFO): DAT read: user:214>
2025-09-20T20:22:19.519Z,1758399739.519 [DAT](INFO): DAT read: Tx time:20:22:22.1504
2025-09-20T20:22:19.520Z,1758399739.520 [DAT](INFO): Ping request sent.
2025-09-20T20:22:19.520Z,1758399739.520 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:19.520Z,1758399739.520 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:19.521Z,1758399739.521 [DAT](INFO): direction in FSK: [0.951870,0.226767,0.206204]
2025-09-20T20:22:19.521Z,1758399739.521 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:19.522Z,1758399739.522 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:19.529Z,1758399739.529 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:19.529Z,1758399739.529 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:19.783Z,1758399739.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 126.599998 m,
deltaT: 3.782897 s,
deltaX: -2.099998 m,
approachRate: -0.555130 m/s,
rangeRepo size: 4
2025-09-20T20:22:19.786Z,1758399739.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 126.043106 m,
bearing: 106.013190 deg,
lat: 36.779134 deg,
lon: -121.859589 deg,
deltaT: 3.782897 s,
deltaX: -2.091110 m,
approachRate: -0.552780 m/s,
posRepo size: 4
2025-09-20T20:22:19.788Z,1758399739.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:19.790Z,1758399739.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 124.924164 m,
bearing: 106.238132 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.101722 deg/s,
cmd heading: 93.679487 deg,
new cmd heading: 93.756842 deg.
2025-09-20T20:22:19.792Z,1758399739.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.636366 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:20.209Z,1758399740.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:20.216Z,1758399740.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 124.687775 m,
bearing: 106.281664 deg,
approach rate: -0.553053 m/s,
LOS rate: 0.102039 deg/s,
cmd heading: 93.756839 deg,
new cmd heading: 93.844067 deg.
2025-09-20T20:22:20.217Z,1758399740.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.637888 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:20.558Z,1758399740.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:20.580Z,1758399740.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:20.582Z,1758399740.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 124.481644 m,
bearing: 106.319770 deg,
approach rate: -0.555931 m/s,
LOS rate: 0.102942 deg/s,
cmd heading: 93.844067 deg,
new cmd heading: 93.920406 deg.
2025-09-20T20:22:20.587Z,1758399740.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.639220 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:20.760Z,1758399740.760 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:20.761Z,1758399740.761 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:20.761Z,1758399740.761 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:20.954Z,1758399740.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:20.957Z,1758399740.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 124.264015 m,
bearing: 106.359896 deg,
approach rate: -0.581394 m/s,
LOS rate: 0.107382 deg/s,
cmd heading: 93.920408 deg,
new cmd heading: 94.000799 deg.
2025-09-20T20:22:20.958Z,1758399740.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.640623 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:21.013Z,1758399741.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.493136
2025-09-20T20:22:21.264Z,1758399741.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744187
2025-09-20T20:22:21.391Z,1758399741.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:21.394Z,1758399741.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 124.024376 m,
bearing: 106.401906 deg,
approach rate: -0.548701 m/s,
LOS rate: 0.096377 deg/s,
cmd heading: 94.000799 deg,
new cmd heading: 94.084983 deg.
2025-09-20T20:22:21.395Z,1758399741.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642093 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:21.516Z,1758399741.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996223
2025-09-20T20:22:21.769Z,1758399741.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248782
2025-09-20T20:22:21.777Z,1758399741.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:21.782Z,1758399741.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 123.816444 m,
bearing: 106.438277 deg,
approach rate: -0.538277 m/s,
LOS rate: 0.094311 deg/s,
cmd heading: 94.084982 deg,
new cmd heading: 94.157845 deg.
2025-09-20T20:22:21.784Z,1758399741.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.643364 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:22.020Z,1758399742.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500304
2025-09-20T20:22:22.239Z,1758399742.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:22.242Z,1758399742.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 123.558151 m,
bearing: 106.482693 deg,
approach rate: -0.559616 m/s,
LOS rate: 0.096434 deg/s,
cmd heading: 94.157846 deg,
new cmd heading: 94.246865 deg.
2025-09-20T20:22:22.243Z,1758399742.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.644918 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:22.273Z,1758399742.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753586
2025-09-20T20:22:22.524Z,1758399742.524 [DAT](INFO): DAT read: Rx Time:20:22:24.7207
2025-09-20T20:22:22.525Z,1758399742.525 [DAT](INFO): Rx dataTimestamp_ set to:1758399742.524344
2025-09-20T20:22:22.525Z,1758399742.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005431
2025-09-20T20:22:22.711Z,1758399742.711 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:22.713Z,1758399742.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.04 m.
2025-09-20T20:22:22.716Z,1758399742.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 126.043106 m,
nav range: 123.296638 m,
bearing: 106.527154 deg,
approach rate: -0.550787 m/s,
LOS rate: 0.093840 deg/s,
cmd heading: 94.246864 deg,
new cmd heading: 94.335974 deg.
2025-09-20T20:22:22.717Z,1758399742.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646473 target range: 126.043106 and range: 126.60 m.
2025-09-20T20:22:22.777Z,1758399742.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257022
2025-09-20T20:22:23.034Z,1758399743.034 [DAT](INFO): DAT read: 20:22:24.7207 LVL= 31792, 32753, 30562, 32755, AGC= 69, IDX= 417, 0.08, 2.615, 0.695, 2.318, 2.197, PHS= 0.520,-1.457, 0.078, RAW= 137.7, 9.6, CAL= 137.3, 10.6, ROT= 12.7, -10.6
2025-09-20T20:22:23.036Z,1758399743.036 [DAT](INFO): got valid direction response:
20:22:24.7207 LVL= 31792, 32753, 30562, 32755, AGC= 69, IDX= 417, 0.08, 2.615, 0.695, 2.318, 2.197, PHS= 0.520,-1.457, 0.078, RAW= 137.7, 9.6, CAL= 137.3, 10.6, ROT= 12.7, -10.6
2025-09-20T20:22:23.037Z,1758399743.037 [DAT](INFO): DAT read: Bearing 256.3, 8.5 (Local)
2025-09-20T20:22:23.038Z,1758399743.038 [DAT](INFO): Local bearing/azimuth received:
Bearing 256.3, 8.5 (Local)
2025-09-20T20:22:23.040Z,1758399743.040 [DAT](INFO): DAT read: Range 11 to 50 : 124.5 m (Round-trip 166.1 ms) speed 0.5 m/s
2025-09-20T20:22:23.041Z,1758399743.041 [DAT](INFO): DAT read: user:215>
2025-09-20T20:22:23.042Z,1758399743.042 [DAT](INFO): DAT read: Tx time:20:22:25.8004
2025-09-20T20:22:23.042Z,1758399743.042 [DAT](INFO): Ping request sent.
2025-09-20T20:22:23.042Z,1758399743.042 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:23.043Z,1758399743.043 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:23.049Z,1758399743.049 [DAT](INFO): direction in FSK: [0.958887,0.216095,0.183951]
2025-09-20T20:22:23.049Z,1758399743.049 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:23.049Z,1758399743.049 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:23.054Z,1758399743.054 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:23.055Z,1758399743.055 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:23.322Z,1758399743.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 124.500000 m,
deltaT: 3.528048 s,
deltaX: -2.099998 m,
approachRate: -0.595230 m/s,
rangeRepo size: 4
2025-09-20T20:22:23.328Z,1758399743.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 123.954170 m,
bearing: 106.263039 deg,
lat: 36.779135 deg,
lon: -121.859588 deg,
deltaT: 3.528048 s,
deltaX: -2.088936 m,
approachRate: -0.592094 m/s,
posRepo size: 4
2025-09-20T20:22:23.329Z,1758399743.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:23.335Z,1758399743.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 122.990112 m,
bearing: 106.519308 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.093840 deg/s,
cmd heading: 94.335977 deg,
new cmd heading: 94.450034 deg.
2025-09-20T20:22:23.336Z,1758399743.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.648464 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:23.810Z,1758399743.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:23.828Z,1758399743.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 122.715225 m,
bearing: 106.564283 deg,
approach rate: -0.562503 m/s,
LOS rate: 0.092240 deg/s,
cmd heading: 94.450035 deg,
new cmd heading: 94.540187 deg.
2025-09-20T20:22:23.832Z,1758399743.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650038 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:24.112Z,1758399744.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:22:24.289Z,1758399744.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:24.292Z,1758399744.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 122.462067 m,
bearing: 106.606163 deg,
approach rate: -0.528669 m/s,
LOS rate: 0.087637 deg/s,
cmd heading: 94.540186 deg,
new cmd heading: 94.624118 deg.
2025-09-20T20:22:24.292Z,1758399744.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.651502 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:24.610Z,1758399744.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:24.613Z,1758399744.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 122.273834 m,
bearing: 106.637045 deg,
approach rate: -0.586209 m/s,
LOS rate: 0.096325 deg/s,
cmd heading: 94.624116 deg,
new cmd heading: 94.685976 deg.
2025-09-20T20:22:24.613Z,1758399744.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.652582 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:25.010Z,1758399745.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:25.028Z,1758399745.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:25.031Z,1758399745.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 122.051903 m,
bearing: 106.673344 deg,
approach rate: -0.530519 m/s,
LOS rate: 0.086928 deg/s,
cmd heading: 94.685977 deg,
new cmd heading: 94.758706 deg.
2025-09-20T20:22:25.032Z,1758399745.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653851 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:25.044Z,1758399745.044 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:25.044Z,1758399745.044 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:25.044Z,1758399745.044 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:25.116Z,1758399745.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:22:25.296Z,1758399745.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253609
2025-09-20T20:22:25.446Z,1758399745.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:25.449Z,1758399745.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 121.815010 m,
bearing: 106.712620 deg,
approach rate: -0.566988 m/s,
LOS rate: 0.094187 deg/s,
cmd heading: 94.758705 deg,
new cmd heading: 94.837409 deg.
2025-09-20T20:22:25.450Z,1758399745.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.655225 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:25.549Z,1758399745.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506502
2025-09-20T20:22:25.800Z,1758399745.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757454
2025-09-20T20:22:25.857Z,1758399745.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:25.860Z,1758399745.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 121.600487 m,
bearing: 106.748327 deg,
approach rate: -0.521981 m/s,
LOS rate: 0.087038 deg/s,
cmd heading: 94.837409 deg,
new cmd heading: 94.908950 deg.
2025-09-20T20:22:25.861Z,1758399745.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656474 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:26.052Z,1758399746.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010068
2025-09-20T20:22:26.276Z,1758399746.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:26.278Z,1758399746.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 121.363548 m,
bearing: 106.787104 deg,
approach rate: -0.565685 m/s,
LOS rate: 0.092760 deg/s,
cmd heading: 94.908948 deg,
new cmd heading: 94.986653 deg.
2025-09-20T20:22:26.280Z,1758399746.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.657830 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:26.317Z,1758399746.317 [DAT](INFO): DAT read: Rx Time:20:22:28.3678
2025-09-20T20:22:26.318Z,1758399746.318 [DAT](INFO): Rx dataTimestamp_ set to:1758399746.317285
2025-09-20T20:22:26.319Z,1758399746.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276060
2025-09-20T20:22:26.568Z,1758399746.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525566
2025-09-20T20:22:26.696Z,1758399746.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.95 m.
2025-09-20T20:22:26.698Z,1758399746.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 123.954170 m,
nav range: 121.147461 m,
bearing: 106.822393 deg,
approach rate: -0.514233 m/s,
LOS rate: 0.084128 deg/s,
cmd heading: 94.986655 deg,
new cmd heading: 95.057359 deg.
2025-09-20T20:22:26.704Z,1758399746.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.659064 target range: 123.954170 and range: 124.50 m.
2025-09-20T20:22:26.826Z,1758399746.826 [DAT](INFO): DAT read: 20:22:28.3678 LVL= 28464, 32753, 28898, 32755, AGC= 66, IDX= 421,-0.41, 2.057, 0.221, 1.810, 1.670, PHS= 0.489,-1.404, 0.096, RAW= 138.7, 9.5, CAL= 138.3, 10.5, ROT= 11.7, -10.5
2025-09-20T20:22:26.827Z,1758399746.827 [DAT](INFO): got valid direction response:
20:22:28.3678 LVL= 28464, 32753, 28898, 32755, AGC= 66, IDX= 421,-0.41, 2.057, 0.221, 1.810, 1.670, PHS= 0.489,-1.404, 0.096, RAW= 138.7, 9.5, CAL= 138.3, 10.5, ROT= 11.7, -10.5
2025-09-20T20:22:26.828Z,1758399746.828 [DAT](INFO): DAT read: Bearing 257.4, 7.6 (Local)
2025-09-20T20:22:26.828Z,1758399746.828 [DAT](INFO): Local bearing/azimuth received:
Bearing 257.4, 7.6 (Local)
2025-09-20T20:22:26.829Z,1758399746.829 [DAT](INFO): DAT read: Range 11 to 50 : 122.4 m (Round-trip 163.2 ms) speed 0.5 m/s
2025-09-20T20:22:26.830Z,1758399746.830 [DAT](INFO): DAT read: user:216>
2025-09-20T20:22:26.833Z,1758399746.833 [DAT](INFO): DAT read: Tx time:20:22:29.4504
2025-09-20T20:22:26.834Z,1758399746.834 [DAT](INFO): Ping request sent.
2025-09-20T20:22:26.834Z,1758399746.834 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:26.834Z,1758399746.834 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:26.836Z,1758399746.836 [DAT](INFO): direction in FSK: [0.962826,0.199392,0.182236]
2025-09-20T20:22:26.836Z,1758399746.836 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:26.836Z,1758399746.836 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:26.841Z,1758399746.841 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:26.841Z,1758399746.841 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:27.036Z,1758399747.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 122.400002 m,
deltaT: 3.791801 s,
deltaX: -2.099998 m,
approachRate: -0.553826 m/s,
rangeRepo size: 4
2025-09-20T20:22:27.038Z,1758399747.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 121.864838 m,
bearing: 106.418871 deg,
lat: 36.779138 deg,
lon: -121.859587 deg,
deltaT: 3.791801 s,
deltaX: -2.089333 m,
approachRate: -0.551013 m/s,
posRepo size: 4
2025-09-20T20:22:27.039Z,1758399747.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:27.050Z,1758399747.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 120.912605 m,
bearing: 106.683582 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.084128 deg/s,
cmd heading: 95.057361 deg,
new cmd heading: 95.114409 deg.
2025-09-20T20:22:27.051Z,1758399747.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660060 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:27.465Z,1758399747.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:27.467Z,1758399747.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:27.470Z,1758399747.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 120.668854 m,
bearing: 106.721738 deg,
approach rate: -0.564531 m/s,
LOS rate: 0.088548 deg/s,
cmd heading: 95.114407 deg,
new cmd heading: 95.190873 deg.
2025-09-20T20:22:27.470Z,1758399747.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661394 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:27.576Z,1758399747.576 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:27.576Z,1758399747.576 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:27.576Z,1758399747.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:27.828Z,1758399747.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994372
2025-09-20T20:22:27.842Z,1758399747.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:27.845Z,1758399747.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 120.457611 m,
bearing: 106.754732 deg,
approach rate: -0.562619 m/s,
LOS rate: 0.088029 deg/s,
cmd heading: 95.190871 deg,
new cmd heading: 95.256975 deg.
2025-09-20T20:22:27.846Z,1758399747.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.662548 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:28.080Z,1758399748.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246131
2025-09-20T20:22:28.290Z,1758399748.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:28.293Z,1758399748.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 120.204651 m,
bearing: 106.795852 deg,
approach rate: -0.564918 m/s,
LOS rate: 0.092024 deg/s,
cmd heading: 95.256974 deg,
new cmd heading: 95.339387 deg.
2025-09-20T20:22:28.294Z,1758399748.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663986 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:28.333Z,1758399748.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499252
2025-09-20T20:22:28.584Z,1758399748.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750223
2025-09-20T20:22:28.667Z,1758399748.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:28.672Z,1758399748.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 119.998192 m,
bearing: 106.829344 deg,
approach rate: -0.548127 m/s,
LOS rate: 0.089072 deg/s,
cmd heading: 95.339387 deg,
new cmd heading: 95.406487 deg.
2025-09-20T20:22:28.673Z,1758399748.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665157 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:28.836Z,1758399748.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002176
2025-09-20T20:22:29.051Z,1758399749.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:29.054Z,1758399749.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 119.774231 m,
bearing: 106.865612 deg,
approach rate: -0.582647 m/s,
LOS rate: 0.094530 deg/s,
cmd heading: 95.406487 deg,
new cmd heading: 95.479158 deg.
2025-09-20T20:22:29.055Z,1758399749.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666426 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:29.088Z,1758399749.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254301
2025-09-20T20:22:29.340Z,1758399749.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506362
2025-09-20T20:22:29.473Z,1758399749.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:29.475Z,1758399749.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:29.478Z,1758399749.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 119.534210 m,
bearing: 106.907273 deg,
approach rate: -0.566409 m/s,
LOS rate: 0.098510 deg/s,
cmd heading: 95.479160 deg,
new cmd heading: 95.562649 deg.
2025-09-20T20:22:29.479Z,1758399749.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667883 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:29.593Z,1758399749.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758491
2025-09-20T20:22:29.844Z,1758399749.844 [DAT](INFO): DAT read: Rx Time:20:22:32.0148
2025-09-20T20:22:29.845Z,1758399749.845 [DAT](INFO): Rx dataTimestamp_ set to:1758399749.844536
2025-09-20T20:22:29.845Z,1758399749.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011612
2025-09-20T20:22:29.862Z,1758399749.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:29.865Z,1758399749.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 119.314346 m,
bearing: 106.945360 deg,
approach rate: -0.567215 m/s,
LOS rate: 0.098439 deg/s,
cmd heading: 95.562652 deg,
new cmd heading: 95.638966 deg.
2025-09-20T20:22:29.866Z,1758399749.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669215 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:30.097Z,1758399750.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262895
2025-09-20T20:22:30.341Z,1758399750.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.86 m.
2025-09-20T20:22:30.343Z,1758399750.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 121.864838 m,
nav range: 119.040199 m,
bearing: 106.989784 deg,
approach rate: -0.573305 m/s,
LOS rate: 0.093114 deg/s,
cmd heading: 95.638966 deg,
new cmd heading: 95.728018 deg.
2025-09-20T20:22:30.344Z,1758399750.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.670769 target range: 121.864838 and range: 122.40 m.
2025-09-20T20:22:30.354Z,1758399750.354 [DAT](INFO): DAT read: 20:22:32.0148 LVL= 24832, 29617, 24258, 31603, AGC= 69, IDX= 407,-0.30, 3.044, 1.184, 2.820, 2.665, PHS= 0.482,-1.436, 0.112, RAW= 139.5, 9.6, CAL= 139.1, 10.5, ROT= 10.9, -10.5
2025-09-20T20:22:30.355Z,1758399750.355 [DAT](INFO): got valid direction response:
20:22:32.0148 LVL= 24832, 29617, 24258, 31603, AGC= 69, IDX= 407,-0.30, 3.044, 1.184, 2.820, 2.665, PHS= 0.482,-1.436, 0.112, RAW= 139.5, 9.6, CAL= 139.1, 10.5, ROT= 10.9, -10.5
2025-09-20T20:22:30.356Z,1758399750.356 [DAT](INFO): DAT read: Bearing 259.1, 7.0 (Local)
2025-09-20T20:22:30.356Z,1758399750.356 [DAT](INFO): Local bearing/azimuth received:
Bearing 259.1, 7.0 (Local)
2025-09-20T20:22:30.358Z,1758399750.358 [DAT](INFO): DAT read: Range 11 to 50 : 120.2 m (Round-trip 160.3 ms) speed 0.5 m/s
2025-09-20T20:22:30.358Z,1758399750.358 [DAT](INFO): DAT read: user:217>
2025-09-20T20:22:30.359Z,1758399750.359 [DAT](INFO): DAT read: Tx time:20:22:33.1003
2025-09-20T20:22:30.359Z,1758399750.359 [DAT](INFO): Ping request sent.
2025-09-20T20:22:30.360Z,1758399750.360 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:30.360Z,1758399750.360 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:30.361Z,1758399750.361 [DAT](INFO): direction in FSK: [0.965516,0.185929,0.182236]
2025-09-20T20:22:30.361Z,1758399750.361 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:30.361Z,1758399750.361 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:30.369Z,1758399750.369 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:30.369Z,1758399750.369 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:30.709Z,1758399750.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 120.199997 m,
deltaT: 3.528124 s,
deltaX: -2.200005 m,
approachRate: -0.623562 m/s,
rangeRepo size: 4
2025-09-20T20:22:30.711Z,1758399750.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 119.674515 m,
bearing: 106.590529 deg,
lat: 36.779139 deg,
lon: -121.859584 deg,
deltaT: 3.528124 s,
deltaX: -2.190323 m,
approachRate: -0.620818 m/s,
posRepo size: 4
2025-09-20T20:22:30.712Z,1758399750.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:30.714Z,1758399750.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 119.042923 m,
bearing: 106.930267 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.093114 deg/s,
cmd heading: 95.728018 deg,
new cmd heading: 95.796440 deg.
2025-09-20T20:22:30.735Z,1758399750.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.671963 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:31.085Z,1758399751.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:31.088Z,1758399751.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 118.824203 m,
bearing: 106.965339 deg,
approach rate: -0.579567 m/s,
LOS rate: 0.093105 deg/s,
cmd heading: 95.796443 deg,
new cmd heading: 95.866715 deg.
2025-09-20T20:22:31.089Z,1758399751.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.673190 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:31.504Z,1758399751.504 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:31.507Z,1758399751.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:31.509Z,1758399751.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 118.579933 m,
bearing: 107.004882 deg,
approach rate: -0.580078 m/s,
LOS rate: 0.094099 deg/s,
cmd heading: 95.866718 deg,
new cmd heading: 95.945968 deg.
2025-09-20T20:22:31.510Z,1758399751.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.674573 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:31.608Z,1758399751.608 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:31.608Z,1758399751.608 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:31.608Z,1758399751.608 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:31.860Z,1758399751.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500264
2025-09-20T20:22:31.898Z,1758399751.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:31.901Z,1758399751.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 118.351883 m,
bearing: 107.041723 deg,
approach rate: -0.581891 m/s,
LOS rate: 0.094185 deg/s,
cmd heading: 95.945969 deg,
new cmd heading: 96.019793 deg.
2025-09-20T20:22:31.902Z,1758399751.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.675862 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:32.113Z,1758399752.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752959
2025-09-20T20:22:32.349Z,1758399752.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:32.352Z,1758399752.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 118.091179 m,
bearing: 107.084063 deg,
approach rate: -0.579241 m/s,
LOS rate: 0.094278 deg/s,
cmd heading: 96.019797 deg,
new cmd heading: 96.104662 deg.
2025-09-20T20:22:32.353Z,1758399752.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.677343 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:32.364Z,1758399752.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004389
2025-09-20T20:22:32.616Z,1758399752.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256369
2025-09-20T20:22:32.714Z,1758399752.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:32.724Z,1758399752.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 117.879517 m,
bearing: 107.118348 deg,
approach rate: -0.579762 m/s,
LOS rate: 0.094079 deg/s,
cmd heading: 96.104662 deg,
new cmd heading: 96.173355 deg.
2025-09-20T20:22:32.725Z,1758399752.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.678542 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:32.868Z,1758399752.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508338
2025-09-20T20:22:33.105Z,1758399753.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:33.108Z,1758399753.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 117.652702 m,
bearing: 107.155026 deg,
approach rate: -0.579910 m/s,
LOS rate: 0.093957 deg/s,
cmd heading: 96.173353 deg,
new cmd heading: 96.246850 deg.
2025-09-20T20:22:33.109Z,1758399753.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.679824 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:33.120Z,1758399753.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760482
2025-09-20T20:22:33.372Z,1758399753.372 [DAT](INFO): DAT read: Rx Time:20:22:35.6620
2025-09-20T20:22:33.372Z,1758399753.372 [DAT](INFO): Rx dataTimestamp_ set to:1758399753.372141
2025-09-20T20:22:33.373Z,1758399753.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013356
2025-09-20T20:22:33.548Z,1758399753.548 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:33.550Z,1758399753.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:33.557Z,1758399753.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 117.407547 m,
bearing: 107.194330 deg,
approach rate: -0.550021 m/s,
LOS rate: 0.088365 deg/s,
cmd heading: 96.246853 deg,
new cmd heading: 96.325625 deg.
2025-09-20T20:22:33.558Z,1758399753.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.681199 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:33.624Z,1758399753.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264710
2025-09-20T20:22:33.879Z,1758399753.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518303
2025-09-20T20:22:33.959Z,1758399753.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.67 m.
2025-09-20T20:22:33.962Z,1758399753.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 119.674515 m,
nav range: 117.159630 m,
bearing: 107.234040 deg,
approach rate: -0.606986 m/s,
LOS rate: 0.097431 deg/s,
cmd heading: 96.325625 deg,
new cmd heading: 96.405214 deg.
2025-09-20T20:22:33.963Z,1758399753.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.682588 target range: 119.674515 and range: 120.20 m.
2025-09-20T20:22:34.137Z,1758399754.137 [DAT](INFO): DAT read: 20:22:35.6620 LVL= 26608, 31409, 28114, 31091, AGC= 69, IDX= 409, 0.05,-1.326, 3.073,-1.519,-1.675, PHS= 0.451,-1.490, 0.113, RAW= 140.6, 10.3, CAL= 140.1, 11.3, ROT= 9.9, -11.3
2025-09-20T20:22:34.139Z,1758399754.139 [DAT](INFO): got valid direction response:
20:22:35.6620 LVL= 26608, 31409, 28114, 31091, AGC= 69, IDX= 409, 0.05,-1.326, 3.073,-1.519,-1.675, PHS= 0.451,-1.490, 0.113, RAW= 140.6, 10.3, CAL= 140.1, 11.3, ROT= 9.9, -11.3
2025-09-20T20:22:34.142Z,1758399754.142 [DAT](INFO): DAT read: Bearing 261.4, 6.0 (Local)
2025-09-20T20:22:34.148Z,1758399754.148 [DAT](INFO): Local bearing/azimuth received:
Bearing 261.4, 6.0 (Local)
2025-09-20T20:22:34.183Z,1758399754.183 [DAT](INFO): DAT read: Range 11 to 50 : 118.1 m (Round-trip 157.5 ms) speed 0.8 m/s
2025-09-20T20:22:34.184Z,1758399754.184 [DAT](INFO): DAT read: user:218>
2025-09-20T20:22:34.185Z,1758399754.185 [DAT](INFO): DAT read: Tx time:20:22:36.7503
2025-09-20T20:22:34.185Z,1758399754.185 [DAT](INFO): Ping request sent.
2025-09-20T20:22:34.185Z,1758399754.185 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:34.185Z,1758399754.185 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:34.186Z,1758399754.186 [DAT](INFO): direction in FSK: [0.966013,0.168596,0.195946]
2025-09-20T20:22:34.186Z,1758399754.186 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:34.207Z,1758399754.207 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:34.210Z,1758399754.210 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:34.210Z,1758399754.210 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:34.470Z,1758399754.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 118.099998 m,
deltaT: 3.780192 s,
deltaX: -2.099998 m,
approachRate: -0.555527 m/s,
rangeRepo size: 4
2025-09-20T20:22:34.473Z,1758399754.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 117.589424 m,
bearing: 106.519509 deg,
lat: 36.779143 deg,
lon: -121.859584 deg,
deltaT: 3.780192 s,
deltaX: -2.085091 m,
approachRate: -0.551583 m/s,
posRepo size: 4
2025-09-20T20:22:34.473Z,1758399754.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:34.476Z,1758399754.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 116.770607 m,
bearing: 107.102796 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.097431 deg/s,
cmd heading: 96.405217 deg,
new cmd heading: 96.504737 deg.
2025-09-20T20:22:34.477Z,1758399754.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.684325 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:34.947Z,1758399754.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:34.950Z,1758399754.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 116.490822 m,
bearing: 107.144189 deg,
approach rate: -0.586081 m/s,
LOS rate: 0.086918 deg/s,
cmd heading: 96.504740 deg,
new cmd heading: 96.587726 deg.
2025-09-20T20:22:34.954Z,1758399754.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.685774 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:35.465Z,1758399755.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:35.468Z,1758399755.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 116.197723 m,
bearing: 107.190610 deg,
approach rate: -0.565870 m/s,
LOS rate: 0.089848 deg/s,
cmd heading: 96.587727 deg,
new cmd heading: 96.680802 deg.
2025-09-20T20:22:35.469Z,1758399755.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.687398 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:35.829Z,1758399755.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:35.832Z,1758399755.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:35.834Z,1758399755.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 115.990341 m,
bearing: 107.223436 deg,
approach rate: -0.565347 m/s,
LOS rate: 0.089648 deg/s,
cmd heading: 96.680802 deg,
new cmd heading: 96.746571 deg.
2025-09-20T20:22:35.836Z,1758399755.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.688546 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:35.892Z,1758399755.892 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:35.893Z,1758399755.893 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:35.893Z,1758399755.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:36.146Z,1758399756.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.960191
2025-09-20T20:22:36.236Z,1758399756.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:36.239Z,1758399756.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 115.761055 m,
bearing: 107.259680 deg,
approach rate: -0.567178 m/s,
LOS rate: 0.089833 deg/s,
cmd heading: 96.746570 deg,
new cmd heading: 96.819201 deg.
2025-09-20T20:22:36.256Z,1758399756.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.689814 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:36.396Z,1758399756.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211355
2025-09-20T20:22:36.649Z,1758399756.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463602
2025-09-20T20:22:36.713Z,1758399756.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:36.719Z,1758399756.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 115.496002 m,
bearing: 107.298530 deg,
approach rate: -0.555981 m/s,
LOS rate: 0.081679 deg/s,
cmd heading: 96.819202 deg,
new cmd heading: 96.897079 deg.
2025-09-20T20:22:36.720Z,1758399756.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.691173 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:36.900Z,1758399756.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.714934
2025-09-20T20:22:37.091Z,1758399757.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:37.094Z,1758399757.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 115.285683 m,
bearing: 107.329489 deg,
approach rate: -0.556569 m/s,
LOS rate: 0.082078 deg/s,
cmd heading: 96.897080 deg,
new cmd heading: 96.959112 deg.
2025-09-20T20:22:37.095Z,1758399757.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.692256 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:37.154Z,1758399757.154 [DAT](INFO): DAT read: Rx Time:20:22:39.3091
2025-09-20T20:22:37.154Z,1758399757.154 [DAT](INFO): Rx dataTimestamp_ set to:1758399757.153734
2025-09-20T20:22:37.157Z,1758399757.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.971348
2025-09-20T20:22:37.404Z,1758399757.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219131
2025-09-20T20:22:37.520Z,1758399757.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 117.59 m.
2025-09-20T20:22:37.549Z,1758399757.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 117.589424 m,
nav range: 115.046852 m,
bearing: 107.363540 deg,
approach rate: -0.557232 m/s,
LOS rate: 0.079611 deg/s,
cmd heading: 96.959111 deg,
new cmd heading: 97.027354 deg.
2025-09-20T20:22:37.558Z,1758399757.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.693447 target range: 117.589424 and range: 118.10 m.
2025-09-20T20:22:37.666Z,1758399757.666 [DAT](INFO): DAT read: 20:22:39.3091 LVL= 25248, 28145, 26738, 30579, AGC= 68, IDX= 413,-0.33,-2.390, 2.003,-2.539,-2.739, PHS= 0.451,-1.496, 0.156, RAW= 141.9, 9.8, CAL= 141.4, 10.7, ROT= 8.6, -10.7
2025-09-20T20:22:37.668Z,1758399757.668 [DAT](INFO): got valid direction response:
20:22:39.3091 LVL= 25248, 28145, 26738, 30579, AGC= 68, IDX= 413,-0.33,-2.390, 2.003,-2.539,-2.739, PHS= 0.451,-1.496, 0.156, RAW= 141.9, 9.8, CAL= 141.4, 10.7, ROT= 8.6, -10.7
2025-09-20T20:22:37.669Z,1758399757.669 [DAT](INFO): DAT read: Bearing 262.3, 4.8 (Local)
2025-09-20T20:22:37.669Z,1758399757.669 [DAT](INFO): Local bearing/azimuth received:
Bearing 262.3, 4.8 (Local)
2025-09-20T20:22:37.671Z,1758399757.671 [DAT](INFO): DAT read: Range 11 to 50 : 115.9 m (Round-trip 154.6 ms) speed 0.5 m/s
2025-09-20T20:22:37.671Z,1758399757.671 [DAT](INFO): DAT read: user:219>
2025-09-20T20:22:37.672Z,1758399757.672 [DAT](INFO): DAT read: Tx time:20:22:40.4003
2025-09-20T20:22:37.672Z,1758399757.672 [DAT](INFO): Ping request sent.
2025-09-20T20:22:37.673Z,1758399757.673 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:37.673Z,1758399757.673 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:37.674Z,1758399757.674 [DAT](INFO): direction in FSK: [0.971565,0.146935,0.185667]
2025-09-20T20:22:37.674Z,1758399757.674 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:37.674Z,1758399757.674 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:37.678Z,1758399757.678 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:37.678Z,1758399757.678 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:37.952Z,1758399757.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 115.900002 m,
deltaT: 3.528392 s,
deltaX: -2.199997 m,
approachRate: -0.623513 m/s,
rangeRepo size: 4
2025-09-20T20:22:37.954Z,1758399757.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 115.399323 m,
bearing: 106.007693 deg,
lat: 36.779146 deg,
lon: -121.859584 deg,
deltaT: 3.528392 s,
deltaX: -2.190102 m,
approachRate: -0.620708 m/s,
posRepo size: 4
2025-09-20T20:22:37.954Z,1758399757.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:37.961Z,1758399757.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 114.741409 m,
bearing: 107.217985 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.079611 deg/s,
cmd heading: 97.027352 deg,
new cmd heading: 97.095448 deg.
2025-09-20T20:22:37.962Z,1758399757.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.694635 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:38.330Z,1758399758.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:38.337Z,1758399758.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:38.348Z,1758399758.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 114.517303 m,
bearing: 107.249531 deg,
approach rate: -0.576105 m/s,
LOS rate: 0.081253 deg/s,
cmd heading: 97.095449 deg,
new cmd heading: 97.158664 deg.
2025-09-20T20:22:38.368Z,1758399758.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.695739 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:38.412Z,1758399758.412 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:38.412Z,1758399758.412 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:38.412Z,1758399758.412 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:38.664Z,1758399758.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991804
2025-09-20T20:22:38.802Z,1758399758.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:38.805Z,1758399758.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 114.255493 m,
bearing: 107.287772 deg,
approach rate: -0.561582 m/s,
LOS rate: 0.082215 deg/s,
cmd heading: 97.158662 deg,
new cmd heading: 97.235319 deg.
2025-09-20T20:22:38.806Z,1758399758.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.697076 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:38.916Z,1758399758.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243490
2025-09-20T20:22:39.168Z,1758399759.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495533
2025-09-20T20:22:39.174Z,1758399759.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:39.181Z,1758399759.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 114.060860 m,
bearing: 107.316068 deg,
approach rate: -0.523781 m/s,
LOS rate: 0.076278 deg/s,
cmd heading: 97.235318 deg,
new cmd heading: 97.292006 deg.
2025-09-20T20:22:39.182Z,1758399759.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.698066 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:39.420Z,1758399759.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747589
2025-09-20T20:22:39.585Z,1758399759.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:39.588Z,1758399759.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 113.824654 m,
bearing: 107.351496 deg,
approach rate: -0.574533 m/s,
LOS rate: 0.086351 deg/s,
cmd heading: 97.292008 deg,
new cmd heading: 97.363010 deg.
2025-09-20T20:22:39.589Z,1758399759.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.699305 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:39.673Z,1758399759.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000743
2025-09-20T20:22:39.924Z,1758399759.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251509
2025-09-20T20:22:39.974Z,1758399759.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:39.977Z,1758399759.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 113.620827 m,
bearing: 107.381882 deg,
approach rate: -0.524335 m/s,
LOS rate: 0.078307 deg/s,
cmd heading: 97.363008 deg,
new cmd heading: 97.423889 deg.
2025-09-20T20:22:39.978Z,1758399759.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.700368 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:40.177Z,1758399760.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504032
2025-09-20T20:22:40.358Z,1758399760.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:40.360Z,1758399760.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:40.385Z,1758399760.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 113.402908 m,
bearing: 107.414291 deg,
approach rate: -0.563711 m/s,
LOS rate: 0.083997 deg/s,
cmd heading: 97.423892 deg,
new cmd heading: 97.488835 deg.
2025-09-20T20:22:40.393Z,1758399760.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.701501 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:40.429Z,1758399760.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756606
2025-09-20T20:22:40.681Z,1758399760.681 [DAT](INFO): DAT read: Rx Time:20:22:42.9562
2025-09-20T20:22:40.682Z,1758399760.682 [DAT](INFO): Rx dataTimestamp_ set to:1758399760.681431
2025-09-20T20:22:40.683Z,1758399760.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010060
2025-09-20T20:22:40.810Z,1758399760.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:40.829Z,1758399760.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 113.146835 m,
bearing: 107.452891 deg,
approach rate: -0.568726 m/s,
LOS rate: 0.085922 deg/s,
cmd heading: 97.488834 deg,
new cmd heading: 97.566207 deg.
2025-09-20T20:22:40.830Z,1758399760.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.702852 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:40.933Z,1758399760.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260683
2025-09-20T20:22:41.187Z,1758399761.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514452
2025-09-20T20:22:41.253Z,1758399761.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.40 m.
2025-09-20T20:22:41.257Z,1758399761.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 115.399323 m,
nav range: 112.907303 m,
bearing: 107.488724 deg,
approach rate: -0.548839 m/s,
LOS rate: 0.082278 deg/s,
cmd heading: 97.566206 deg,
new cmd heading: 97.638024 deg.
2025-09-20T20:22:41.258Z,1758399761.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.704105 target range: 115.399323 and range: 115.90 m.
2025-09-20T20:22:41.442Z,1758399761.442 [DAT](INFO): DAT read: 20:22:42.9562 LVL= 25232, 29537, 24418, 30995, AGC= 69, IDX= 415,-0.28,-1.930, 2.546,-2.036,-2.221, PHS= 0.394,-1.471, 0.141, RAW= 142.8, 10.7, CAL= 142.4, 11.6, ROT= 7.6, -11.6
2025-09-20T20:22:41.443Z,1758399761.443 [DAT](INFO): got valid direction response:
20:22:42.9562 LVL= 25232, 29537, 24418, 30995, AGC= 69, IDX= 415,-0.28,-1.930, 2.546,-2.036,-2.221, PHS= 0.394,-1.471, 0.141, RAW= 142.8, 10.7, CAL= 142.4, 11.6, ROT= 7.6, -11.6
2025-09-20T20:22:41.444Z,1758399761.444 [DAT](INFO): DAT read: Bearing 264.6, 4.3 (Local)
2025-09-20T20:22:41.444Z,1758399761.444 [DAT](INFO): Local bearing/azimuth received:
Bearing 264.6, 4.3 (Local)
2025-09-20T20:22:41.445Z,1758399761.445 [DAT](INFO): DAT read: Range 11 to 50 : 113.7 m (Round-trip 151.7 ms) speed 0.4 m/s
2025-09-20T20:22:41.446Z,1758399761.446 [DAT](INFO): DAT read: user:220>
2025-09-20T20:22:41.447Z,1758399761.447 [DAT](INFO): DAT read: Tx time:20:22:44.0503
2025-09-20T20:22:41.447Z,1758399761.447 [DAT](INFO): Ping request sent.
2025-09-20T20:22:41.447Z,1758399761.447 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:41.448Z,1758399761.448 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:41.449Z,1758399761.449 [DAT](INFO): direction in FSK: [0.970970,0.129555,0.201078]
2025-09-20T20:22:41.449Z,1758399761.449 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:41.449Z,1758399761.449 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:41.452Z,1758399761.452 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:41.452Z,1758399761.452 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:41.674Z,1758399761.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 113.699997 m,
deltaT: 3.779284 s,
deltaX: -2.200005 m,
approachRate: -0.582122 m/s,
rangeRepo size: 4
2025-09-20T20:22:41.680Z,1758399761.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 113.208435 m,
bearing: 105.717740 deg,
lat: 36.779153 deg,
lon: -121.859583 deg,
deltaT: 3.779284 s,
deltaX: -2.190887 m,
approachRate: -0.579710 m/s,
posRepo size: 4
2025-09-20T20:22:41.681Z,1758399761.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:41.689Z,1758399761.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 112.480370 m,
bearing: 107.101438 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.082278 deg/s,
cmd heading: 97.638025 deg,
new cmd heading: 97.708226 deg.
2025-09-20T20:22:41.690Z,1758399761.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.705330 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:41.997Z,1758399761.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:41.999Z,1758399761.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 112.292374 m,
bearing: 107.128488 deg,
approach rate: -0.581696 m/s,
LOS rate: 0.083840 deg/s,
cmd heading: 97.708226 deg,
new cmd heading: 97.762418 deg.
2025-09-20T20:22:42.000Z,1758399762.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.706276 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:42.383Z,1758399762.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:42.385Z,1758399762.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:42.388Z,1758399762.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 112.066475 m,
bearing: 107.160924 deg,
approach rate: -0.581747 m/s,
LOS rate: 0.083698 deg/s,
cmd heading: 97.762417 deg,
new cmd heading: 97.827419 deg.
2025-09-20T20:22:42.389Z,1758399762.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.707411 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:42.446Z,1758399762.446 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:42.446Z,1758399762.446 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:42.447Z,1758399762.447 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:42.696Z,1758399762.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248604
2025-09-20T20:22:42.830Z,1758399762.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:42.833Z,1758399762.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 111.812424 m,
bearing: 107.196818 deg,
approach rate: -0.571482 m/s,
LOS rate: 0.080927 deg/s,
cmd heading: 97.827420 deg,
new cmd heading: 97.899372 deg.
2025-09-20T20:22:42.834Z,1758399762.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.708666 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:42.948Z,1758399762.948 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500582
2025-09-20T20:22:43.200Z,1758399763.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752613
2025-09-20T20:22:43.208Z,1758399763.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:43.211Z,1758399763.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 111.612045 m,
bearing: 107.225090 deg,
approach rate: -0.529653 m/s,
LOS rate: 0.074864 deg/s,
cmd heading: 97.899369 deg,
new cmd heading: 97.956014 deg.
2025-09-20T20:22:43.212Z,1758399763.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.709655 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:43.455Z,1758399763.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006821
2025-09-20T20:22:43.704Z,1758399763.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256565
2025-09-20T20:22:43.798Z,1758399763.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:43.801Z,1758399763.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 111.264969 m,
bearing: 107.274310 deg,
approach rate: -0.587692 m/s,
LOS rate: 0.083602 deg/s,
cmd heading: 97.956012 deg,
new cmd heading: 98.054758 deg.
2025-09-20T20:22:43.802Z,1758399763.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.711378 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:43.956Z,1758399763.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508454
2025-09-20T20:22:44.209Z,1758399764.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761222
2025-09-20T20:22:44.341Z,1758399764.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:44.352Z,1758399764.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 110.958145 m,
bearing: 107.317376 deg,
approach rate: -0.565601 m/s,
LOS rate: 0.079607 deg/s,
cmd heading: 98.054756 deg,
new cmd heading: 98.141125 deg.
2025-09-20T20:22:44.353Z,1758399764.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.712886 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:44.465Z,1758399764.465 [DAT](INFO): DAT read: Rx Time:20:22:46.6034
2025-09-20T20:22:44.466Z,1758399764.466 [DAT](INFO): Rx dataTimestamp_ set to:1758399764.465431
2025-09-20T20:22:44.468Z,1758399764.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020423
2025-09-20T20:22:44.712Z,1758399764.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264557
2025-09-20T20:22:44.898Z,1758399764.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:44.905Z,1758399764.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.21 m.
2025-09-20T20:22:44.912Z,1758399764.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 113.208435 m,
nav range: 110.636818 m,
bearing: 107.367056 deg,
approach rate: -0.569859 m/s,
LOS rate: 0.088362 deg/s,
cmd heading: 98.141124 deg,
new cmd heading: 98.240773 deg.
2025-09-20T20:22:44.913Z,1758399764.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.714625 target range: 113.208435 and range: 113.70 m.
2025-09-20T20:22:44.978Z,1758399764.978 [DAT](INFO): DAT read: 20:22:46.6034 LVL= 24560, 28785, 23346, 32755, AGC= 68, IDX= 417,-0.15,-0.568,-2.407,-0.697,-0.943, PHS= 0.477,-1.419, 0.202, RAW= 142.3, 8.4, CAL= 141.9, 9.2, ROT= 8.1, -9.2
2025-09-20T20:22:44.979Z,1758399764.979 [DAT](INFO): got valid direction response:
20:22:46.6034 LVL= 24560, 28785, 23346, 32755, AGC= 68, IDX= 417,-0.15,-0.568,-2.407,-0.697,-0.943, PHS= 0.477,-1.419, 0.202, RAW= 142.3, 8.4, CAL= 141.9, 9.2, ROT= 8.1, -9.2
2025-09-20T20:22:44.981Z,1758399764.981 [DAT](INFO): DAT read: Bearing 263.3, 5.3 (Local)
2025-09-20T20:22:44.981Z,1758399764.981 [DAT](INFO): Local bearing/azimuth received:
Bearing 263.3, 5.3 (Local)
2025-09-20T20:22:44.989Z,1758399764.989 [DAT](INFO): DAT read: Range 11 to 50 : 111.6 m (Round-trip 148.9 ms) speed 0.4 m/s
2025-09-20T20:22:44.990Z,1758399764.990 [DAT](INFO): DAT read: user:221>
2025-09-20T20:22:44.995Z,1758399764.995 [DAT](INFO): DAT read: Tx time:20:22:47.7003
2025-09-20T20:22:44.995Z,1758399764.995 [DAT](INFO): Ping request sent.
2025-09-20T20:22:44.995Z,1758399764.995 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:44.996Z,1758399764.996 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:44.997Z,1758399764.997 [DAT](INFO): direction in FSK: [0.977288,0.139089,0.159881]
2025-09-20T20:22:44.997Z,1758399764.997 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:44.998Z,1758399764.998 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:45.010Z,1758399765.010 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:45.010Z,1758399765.010 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:45.261Z,1758399765.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 111.599998 m,
deltaT: 3.530881 s,
deltaX: -2.099998 m,
approachRate: -0.594752 m/s,
rangeRepo size: 4
2025-09-20T20:22:45.268Z,1758399765.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 111.118004 m,
bearing: 107.042785 deg,
lat: 36.779159 deg,
lon: -121.859581 deg,
deltaT: 3.530881 s,
deltaX: -2.090431 m,
approachRate: -0.592042 m/s,
posRepo size: 4
2025-09-20T20:22:45.268Z,1758399765.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:45.303Z,1758399765.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 110.382591 m,
bearing: 107.042399 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.088362 deg/s,
cmd heading: 98.240776 deg,
new cmd heading: 98.303689 deg.
2025-09-20T20:22:45.304Z,1758399765.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.715723 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:45.691Z,1758399765.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:45.694Z,1758399765.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 110.141846 m,
bearing: 107.079168 deg,
approach rate: -0.559245 m/s,
LOS rate: 0.085600 deg/s,
cmd heading: 98.303689 deg,
new cmd heading: 98.377387 deg.
2025-09-20T20:22:45.696Z,1758399765.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.717009 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:46.036Z,1758399766.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:46.055Z,1758399766.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 109.933868 m,
bearing: 107.110899 deg,
approach rate: -0.603072 m/s,
LOS rate: 0.092186 deg/s,
cmd heading: 98.377387 deg,
new cmd heading: 98.440970 deg.
2025-09-20T20:22:46.056Z,1758399766.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.718119 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:46.450Z,1758399766.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:46.461Z,1758399766.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 109.703896 m,
bearing: 107.145918 deg,
approach rate: -0.555283 m/s,
LOS rate: 0.084732 deg/s,
cmd heading: 98.440969 deg,
new cmd heading: 98.511153 deg.
2025-09-20T20:22:46.465Z,1758399766.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.719344 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:46.877Z,1758399766.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:46.884Z,1758399766.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 109.467323 m,
bearing: 107.183691 deg,
approach rate: -0.553853 m/s,
LOS rate: 0.088625 deg/s,
cmd heading: 98.511156 deg,
new cmd heading: 98.586866 deg.
2025-09-20T20:22:46.885Z,1758399766.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.720665 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:47.249Z,1758399767.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:47.251Z,1758399767.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:47.253Z,1758399767.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 109.256363 m,
bearing: 107.217377 deg,
approach rate: -0.565132 m/s,
LOS rate: 0.090413 deg/s,
cmd heading: 98.586869 deg,
new cmd heading: 98.654370 deg.
2025-09-20T20:22:47.254Z,1758399767.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.721844 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:47.486Z,1758399767.486 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:47.487Z,1758399767.487 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:47.488Z,1758399767.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:47.692Z,1758399767.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:47.695Z,1758399767.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 109.006714 m,
bearing: 107.254484 deg,
approach rate: -0.565249 m/s,
LOS rate: 0.084210 deg/s,
cmd heading: 98.654371 deg,
new cmd heading: 98.728756 deg.
2025-09-20T20:22:47.696Z,1758399767.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.723142 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:47.736Z,1758399767.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740603
2025-09-20T20:22:47.988Z,1758399767.988 [DAT](INFO): DAT read: Rx Time:20:22:50.2504
2025-09-20T20:22:47.989Z,1758399767.989 [DAT](INFO): Rx dataTimestamp_ set to:1758399767.988452
2025-09-20T20:22:47.989Z,1758399767.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993816
2025-09-20T20:22:48.078Z,1758399768.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:48.081Z,1758399768.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 108.788528 m,
bearing: 107.286873 deg,
approach rate: -0.565177 m/s,
LOS rate: 0.084066 deg/s,
cmd heading: 98.728759 deg,
new cmd heading: 98.793666 deg.
2025-09-20T20:22:48.082Z,1758399768.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.724275 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:48.240Z,1758399768.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.244474
2025-09-20T20:22:48.497Z,1758399768.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500355
2025-09-20T20:22:48.562Z,1758399768.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.12 m.
2025-09-20T20:22:48.574Z,1758399768.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 111.118004 m,
nav range: 108.525085 m,
bearing: 107.325963 deg,
approach rate: -0.544885 m/s,
LOS rate: 0.081047 deg/s,
cmd heading: 98.793666 deg,
new cmd heading: 98.872036 deg.
2025-09-20T20:22:48.580Z,1758399768.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.725643 target range: 111.118004 and range: 111.60 m.
2025-09-20T20:22:48.749Z,1758399768.749 [DAT](INFO): DAT read: 20:22:50.2504 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.38,-1.591, 2.892,-1.598,-1.905, PHS= 0.417,-1.441, 0.263, RAW= 145.7, 8.6, CAL= 145.3, 9.3, ROT= 4.7, -9.3
2025-09-20T20:22:48.751Z,1758399768.751 [DAT](INFO): got valid direction response:
20:22:50.2504 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 420,-0.38,-1.591, 2.892,-1.598,-1.905, PHS= 0.417,-1.441, 0.263, RAW= 145.7, 8.6, CAL= 145.3, 9.3, ROT= 4.7, -9.3
2025-09-20T20:22:48.752Z,1758399768.752 [DAT](INFO): DAT read: Bearing 264.8, 2.7 (Local)
2025-09-20T20:22:48.753Z,1758399768.753 [DAT](INFO): Local bearing/azimuth received:
Bearing 264.8, 2.7 (Local)
2025-09-20T20:22:48.755Z,1758399768.755 [DAT](INFO): DAT read: Range 11 to 50 : 109.4 m (Round-trip 145.9 ms) speed 0.5 m/s
2025-09-20T20:22:48.756Z,1758399768.756 [DAT](INFO): DAT read: user:222>
2025-09-20T20:22:48.757Z,1758399768.757 [DAT](INFO): DAT read: Tx time:20:22:51.3503
2025-09-20T20:22:48.757Z,1758399768.757 [DAT](INFO): Ping request sent.
2025-09-20T20:22:48.757Z,1758399768.757 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:48.758Z,1758399768.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:48.761Z,1758399768.761 [DAT](INFO): direction in FSK: [0.983537,0.080861,0.161604]
2025-09-20T20:22:48.761Z,1758399768.761 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:48.762Z,1758399768.762 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:48.806Z,1758399768.806 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:48.806Z,1758399768.806 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:48.888Z,1758399768.888 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000328005.0, +11.2, 0.0,1494.2, 0
2025-09-20T20:22:48.930Z,1758399768.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 109.400002 m,
deltaT: 3.777091 s,
deltaX: -2.199997 m,
approachRate: -0.582458 m/s,
rangeRepo size: 4
2025-09-20T20:22:48.937Z,1758399768.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 108.927490 m,
bearing: 104.447512 deg,
lat: 36.779167 deg,
lon: -121.859580 deg,
deltaT: 3.777091 s,
deltaX: -2.190514 m,
approachRate: -0.579947 m/s,
posRepo size: 4
2025-09-20T20:22:48.937Z,1758399768.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:48.944Z,1758399768.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 108.154610 m,
bearing: 106.893779 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.081047 deg/s,
cmd heading: 98.872036 deg,
new cmd heading: 98.931646 deg.
2025-09-20T20:22:48.945Z,1758399768.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.726683 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:49.269Z,1758399769.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:49.271Z,1758399769.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:49.274Z,1758399769.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 107.951996 m,
bearing: 106.922863 deg,
approach rate: -0.594043 m/s,
LOS rate: 0.085433 deg/s,
cmd heading: 98.931650 deg,
new cmd heading: 98.989928 deg.
2025-09-20T20:22:49.275Z,1758399769.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.727700 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:49.502Z,1758399769.502 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:49.503Z,1758399769.503 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:49.504Z,1758399769.504 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:49.702Z,1758399769.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:49.704Z,1758399769.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 107.694992 m,
bearing: 106.956464 deg,
approach rate: -0.596395 m/s,
LOS rate: 0.078159 deg/s,
cmd heading: 98.989925 deg,
new cmd heading: 99.057287 deg.
2025-09-20T20:22:49.705Z,1758399769.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.728876 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:49.753Z,1758399769.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995035
2025-09-20T20:22:50.004Z,1758399770.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246440
2025-09-20T20:22:50.083Z,1758399770.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:50.086Z,1758399770.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 107.467522 m,
bearing: 106.986157 deg,
approach rate: -0.596567 m/s,
LOS rate: 0.078037 deg/s,
cmd heading: 99.057284 deg,
new cmd heading: 99.116795 deg.
2025-09-20T20:22:50.087Z,1758399770.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.729914 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:50.256Z,1758399770.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498442
2025-09-20T20:22:50.483Z,1758399770.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:50.486Z,1758399770.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 107.229179 m,
bearing: 107.017254 deg,
approach rate: -0.596181 m/s,
LOS rate: 0.077958 deg/s,
cmd heading: 99.116796 deg,
new cmd heading: 99.179128 deg.
2025-09-20T20:22:50.487Z,1758399770.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.731002 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:50.508Z,1758399770.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750560
2025-09-20T20:22:50.761Z,1758399770.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003054
2025-09-20T20:22:50.927Z,1758399770.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:50.930Z,1758399770.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 106.964432 m,
bearing: 107.048890 deg,
approach rate: -0.595608 m/s,
LOS rate: 0.071347 deg/s,
cmd heading: 99.179128 deg,
new cmd heading: 99.242555 deg.
2025-09-20T20:22:50.931Z,1758399770.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.732109 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:51.013Z,1758399771.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255057
2025-09-20T20:22:51.264Z,1758399771.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506592
2025-09-20T20:22:51.299Z,1758399771.299 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:51.301Z,1758399771.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:51.304Z,1758399771.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 106.741737 m,
bearing: 107.075382 deg,
approach rate: -0.595342 m/s,
LOS rate: 0.070971 deg/s,
cmd heading: 99.242553 deg,
new cmd heading: 99.295648 deg.
2025-09-20T20:22:51.305Z,1758399771.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.733036 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:51.519Z,1758399771.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761102
2025-09-20T20:22:51.717Z,1758399771.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:51.720Z,1758399771.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 106.503929 m,
bearing: 107.106367 deg,
approach rate: -0.572549 m/s,
LOS rate: 0.074767 deg/s,
cmd heading: 99.295651 deg,
new cmd heading: 99.357760 deg.
2025-09-20T20:22:51.721Z,1758399771.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.734120 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:51.773Z,1758399771.773 [DAT](INFO): DAT read: Rx Time:20:22:53.8976
2025-09-20T20:22:51.775Z,1758399771.775 [DAT](INFO): Rx dataTimestamp_ set to:1758399771.773455
2025-09-20T20:22:51.777Z,1758399771.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018834
2025-09-20T20:22:52.020Z,1758399772.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262476
2025-09-20T20:22:52.144Z,1758399772.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.93 m.
2025-09-20T20:22:52.170Z,1758399772.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 108.927490 m,
nav range: 106.287323 m,
bearing: 107.134538 deg,
approach rate: -0.513428 m/s,
LOS rate: 0.066910 deg/s,
cmd heading: 99.357758 deg,
new cmd heading: 99.414214 deg.
2025-09-20T20:22:52.177Z,1758399772.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.735105 target range: 108.927490 and range: 109.40 m.
2025-09-20T20:22:52.284Z,1758399772.284 [DAT](INFO): DAT read: 20:22:53.8976 LVL= 21840, 31441, 23922, 32755, AGC= 67, IDX= 407,-0.22,-1.452, 3.084,-1.414,-1.731, PHS= 0.380,-1.424, 0.272, RAW= 146.9, 8.8, CAL= 146.5, 9.6, ROT= 3.5, -9.6
2025-09-20T20:22:52.285Z,1758399772.285 [DAT](INFO): got valid direction response:
20:22:53.8976 LVL= 21840, 31441, 23922, 32755, AGC= 67, IDX= 407,-0.22,-1.452, 3.084,-1.414,-1.731, PHS= 0.380,-1.424, 0.272, RAW= 146.9, 8.8, CAL= 146.5, 9.6, ROT= 3.5, -9.6
2025-09-20T20:22:52.286Z,1758399772.286 [DAT](INFO): DAT read: Bearing 266.0, 2.2 (Local)
2025-09-20T20:22:52.286Z,1758399772.286 [DAT](INFO): Local bearing/azimuth received:
Bearing 266.0, 2.2 (Local)
2025-09-20T20:22:52.288Z,1758399772.288 [DAT](INFO): DAT read: Range 11 to 50 : 107.3 m (Round-trip 143.1 ms) speed 0.4 m/s
2025-09-20T20:22:52.289Z,1758399772.289 [DAT](INFO): DAT read: user:223>
2025-09-20T20:22:52.290Z,1758399772.290 [DAT](INFO): DAT read: Tx time:20:22:55.0003
2025-09-20T20:22:52.290Z,1758399772.290 [DAT](INFO): Ping request sent.
2025-09-20T20:22:52.290Z,1758399772.290 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:52.291Z,1758399772.291 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:52.292Z,1758399772.292 [DAT](INFO): direction in FSK: [0.984157,0.060194,0.166769]
2025-09-20T20:22:52.292Z,1758399772.292 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:52.292Z,1758399772.292 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:52.295Z,1758399772.295 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:52.296Z,1758399772.296 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:52.627Z,1758399772.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 107.300003 m,
deltaT: 3.528053 s,
deltaX: -2.099998 m,
approachRate: -0.595229 m/s,
rangeRepo size: 4
2025-09-20T20:22:52.635Z,1758399772.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 106.836617 m,
bearing: 103.938357 deg,
lat: 36.779178 deg,
lon: -121.859579 deg,
deltaT: 3.528053 s,
deltaX: -2.090874 m,
approachRate: -0.592642 m/s,
posRepo size: 4
2025-09-20T20:22:52.636Z,1758399772.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:52.638Z,1758399772.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 105.777969 m,
bearing: 106.532965 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.066910 deg/s,
cmd heading: 99.414216 deg,
new cmd heading: 99.478895 deg.
2025-09-20T20:22:52.644Z,1758399772.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.736234 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:53.021Z,1758399773.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:53.024Z,1758399773.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 105.513580 m,
bearing: 106.562708 deg,
approach rate: -0.661922 m/s,
LOS rate: 0.074651 deg/s,
cmd heading: 99.478898 deg,
new cmd heading: 99.538533 deg.
2025-09-20T20:22:53.025Z,1758399773.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.737275 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:53.385Z,1758399773.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:53.387Z,1758399773.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:53.393Z,1758399773.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 105.305473 m,
bearing: 106.585934 deg,
approach rate: -0.569460 m/s,
LOS rate: 0.063679 deg/s,
cmd heading: 99.538532 deg,
new cmd heading: 99.585075 deg.
2025-09-20T20:22:53.394Z,1758399773.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.738087 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:53.532Z,1758399773.532 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:53.532Z,1758399773.532 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:53.532Z,1758399773.532 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:53.785Z,1758399773.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494254
2025-09-20T20:22:53.833Z,1758399773.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:53.840Z,1758399773.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 105.064247 m,
bearing: 106.617323 deg,
approach rate: -0.540444 m/s,
LOS rate: 0.070486 deg/s,
cmd heading: 99.585073 deg,
new cmd heading: 99.647996 deg.
2025-09-20T20:22:53.841Z,1758399773.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.739186 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:54.036Z,1758399774.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745937
2025-09-20T20:22:54.193Z,1758399774.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:54.200Z,1758399774.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 104.862961 m,
bearing: 106.643504 deg,
approach rate: -0.559144 m/s,
LOS rate: 0.072867 deg/s,
cmd heading: 99.647993 deg,
new cmd heading: 99.700456 deg.
2025-09-20T20:22:54.201Z,1758399774.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.740101 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:54.289Z,1758399774.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998913
2025-09-20T20:22:54.540Z,1758399774.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249608
2025-09-20T20:22:54.649Z,1758399774.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:54.652Z,1758399774.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 104.602654 m,
bearing: 106.677516 deg,
approach rate: -0.570750 m/s,
LOS rate: 0.074761 deg/s,
cmd heading: 99.700456 deg,
new cmd heading: 99.768649 deg.
2025-09-20T20:22:54.653Z,1758399774.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.741291 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:54.792Z,1758399774.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501729
2025-09-20T20:22:55.016Z,1758399775.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:55.019Z,1758399775.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 104.400055 m,
bearing: 106.703810 deg,
approach rate: -0.551698 m/s,
LOS rate: 0.071740 deg/s,
cmd heading: 99.768648 deg,
new cmd heading: 99.821338 deg.
2025-09-20T20:22:55.020Z,1758399775.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.742211 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:55.044Z,1758399775.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753694
2025-09-20T20:22:55.240Z,1758399775.240 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:22:55.297Z,1758399775.297 [DAT](INFO): DAT read: Rx Time:20:22:57.5448
2025-09-20T20:22:55.297Z,1758399775.297 [DAT](INFO): Rx dataTimestamp_ set to:1758399775.296721
2025-09-20T20:22:55.298Z,1758399775.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007256
2025-09-20T20:22:55.407Z,1758399775.407 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:55.409Z,1758399775.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.84 m.
2025-09-20T20:22:55.428Z,1758399775.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 106.836617 m,
nav range: 104.184242 m,
bearing: 106.731849 deg,
approach rate: -0.549684 m/s,
LOS rate: 0.071564 deg/s,
cmd heading: 99.821336 deg,
new cmd heading: 99.877530 deg.
2025-09-20T20:22:55.429Z,1758399775.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.743192 target range: 106.836617 and range: 107.30 m.
2025-09-20T20:22:55.548Z,1758399775.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257914
2025-09-20T20:22:55.822Z,1758399775.822 [DAT](INFO): DAT read: 20:22:57.5448 LVL= 22240, 27777, 24802, 29571, AGC= 68, IDX= 409,-0.10,-0.987,-2.717,-0.915,-1.274, PHS= 0.389,-1.398, 0.315, RAW= 147.9, 8.0, CAL= 147.4, 8.6, ROT= 2.6, -8.6
2025-09-20T20:22:55.834Z,1758399775.834 [DAT](INFO): got valid direction response:
20:22:57.5448 LVL= 22240, 27777, 24802, 29571, AGC= 68, IDX= 409,-0.10,-0.987,-2.717,-0.915,-1.274, PHS= 0.389,-1.398, 0.315, RAW= 147.9, 8.0, CAL= 147.4, 8.6, ROT= 2.6, -8.6
2025-09-20T20:22:55.839Z,1758399775.839 [DAT](INFO): DAT read: Bearing 266.1, 2.0 (Local)
2025-09-20T20:22:55.839Z,1758399775.839 [DAT](INFO): Local bearing/azimuth received:
Bearing 266.1, 2.0 (Local)
2025-09-20T20:22:55.841Z,1758399775.841 [DAT](INFO): DAT read: Range 11 to 50 : 105.2 m (Round-trip 140.3 ms) speed 0.5 m/s
2025-09-20T20:22:55.841Z,1758399775.841 [DAT](INFO): DAT read: user:224>
2025-09-20T20:22:55.842Z,1758399775.842 [DAT](INFO): DAT read: Tx time:20:22:58.6503
2025-09-20T20:22:55.842Z,1758399775.842 [DAT](INFO): Ping request sent.
2025-09-20T20:22:55.843Z,1758399775.843 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:55.843Z,1758399775.843 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:55.844Z,1758399775.844 [DAT](INFO): direction in FSK: [0.987739,0.044853,0.149535]
2025-09-20T20:22:55.844Z,1758399775.844 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:55.844Z,1758399775.844 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:55.848Z,1758399775.848 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:55.848Z,1758399775.848 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:55.953Z,1758399775.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 105.199997 m,
deltaT: 3.529733 s,
deltaX: -2.100006 m,
approachRate: -0.594948 m/s,
rangeRepo size: 4
2025-09-20T20:22:55.955Z,1758399775.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 104.746338 m,
bearing: 103.453459 deg,
lat: 36.779208 deg,
lon: -121.859568 deg,
deltaT: 3.529733 s,
deltaX: -2.090279 m,
approachRate: -0.592192 m/s,
posRepo size: 4
2025-09-20T20:22:55.960Z,1758399775.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:55.962Z,1758399775.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 103.940323 m,
bearing: 104.876924 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.071564 deg/s,
cmd heading: 99.877528 deg,
new cmd heading: 99.955244 deg.
2025-09-20T20:22:55.976Z,1758399775.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.744548 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:56.244Z,1758399776.244 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:22:56.325Z,1758399776.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:56.328Z,1758399776.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 103.720589 m,
bearing: 104.902675 deg,
approach rate: -0.589027 m/s,
LOS rate: 0.069175 deg/s,
cmd heading: 99.955242 deg,
new cmd heading: 100.006854 deg.
2025-09-20T20:22:56.329Z,1758399776.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.745449 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:56.732Z,1758399776.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:56.734Z,1758399776.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 103.484619 m,
bearing: 104.930006 deg,
approach rate: -0.580524 m/s,
LOS rate: 0.067391 deg/s,
cmd heading: 100.006851 deg,
new cmd heading: 100.061637 deg.
2025-09-20T20:22:56.735Z,1758399776.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.746405 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:57.130Z,1758399777.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:57.132Z,1758399777.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 103.260780 m,
bearing: 104.955956 deg,
approach rate: -0.562276 m/s,
LOS rate: 0.065328 deg/s,
cmd heading: 100.061636 deg,
new cmd heading: 100.113649 deg.
2025-09-20T20:22:57.133Z,1758399777.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.747313 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:57.519Z,1758399777.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:57.521Z,1758399777.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:57.524Z,1758399777.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 103.040382 m,
bearing: 104.981518 deg,
approach rate: -0.562469 m/s,
LOS rate: 0.065376 deg/s,
cmd heading: 100.113648 deg,
new cmd heading: 100.164882 deg.
2025-09-20T20:22:57.525Z,1758399777.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.748207 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:57.564Z,1758399777.564 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:22:57.564Z,1758399777.564 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:22:57.564Z,1758399777.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:22:57.816Z,1758399777.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973571
2025-09-20T20:22:57.967Z,1758399777.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:57.969Z,1758399777.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 102.788445 m,
bearing: 105.012805 deg,
approach rate: -0.566051 m/s,
LOS rate: 0.070468 deg/s,
cmd heading: 100.164881 deg,
new cmd heading: 100.227609 deg.
2025-09-20T20:22:57.970Z,1758399777.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.749302 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:58.069Z,1758399778.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.225868
2025-09-20T20:22:58.320Z,1758399778.320 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477352
2025-09-20T20:22:58.335Z,1758399778.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:58.338Z,1758399778.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 102.562271 m,
bearing: 105.040940 deg,
approach rate: -0.613420 m/s,
LOS rate: 0.076474 deg/s,
cmd heading: 100.227610 deg,
new cmd heading: 100.284003 deg.
2025-09-20T20:22:58.339Z,1758399778.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.750286 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:58.576Z,1758399778.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733065
2025-09-20T20:22:58.760Z,1758399778.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:58.765Z,1758399778.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 102.312531 m,
bearing: 105.069268 deg,
approach rate: -0.587932 m/s,
LOS rate: 0.066851 deg/s,
cmd heading: 100.284007 deg,
new cmd heading: 100.340800 deg.
2025-09-20T20:22:58.766Z,1758399778.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751277 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:58.825Z,1758399778.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982625
2025-09-20T20:22:59.076Z,1758399779.076 [DAT](INFO): DAT read: Rx Time:20:23:01.1918
2025-09-20T20:22:59.076Z,1758399779.076 [DAT](INFO): Rx dataTimestamp_ set to:1758399779.076194
2025-09-20T20:22:59.077Z,1758399779.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.234406
2025-09-20T20:22:59.165Z,1758399779.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:59.168Z,1758399779.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 102.070213 m,
bearing: 105.096782 deg,
approach rate: -0.598004 m/s,
LOS rate: 0.068064 deg/s,
cmd heading: 100.340800 deg,
new cmd heading: 100.395960 deg.
2025-09-20T20:22:59.169Z,1758399779.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752240 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:59.328Z,1758399779.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.485548
2025-09-20T20:22:59.555Z,1758399779.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:22:59.557Z,1758399779.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.75 m.
2025-09-20T20:22:59.560Z,1758399779.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 104.746338 m,
nav range: 101.837852 m,
bearing: 105.123135 deg,
approach rate: -0.592493 m/s,
LOS rate: 0.067350 deg/s,
cmd heading: 100.395960 deg,
new cmd heading: 100.448786 deg.
2025-09-20T20:22:59.561Z,1758399779.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753162 target range: 104.746338 and range: 105.20 m.
2025-09-20T20:22:59.626Z,1758399779.626 [DAT](INFO): DAT read: 20:23:01.1918 LVL= 25776, 28577, 26514, 30131, AGC= 68, IDX= 412,-0.34, 0.707,-1.033, 0.811, 0.426, PHS= 0.383,-1.414, 0.341, RAW= 148.8, 7.8, CAL= 148.3, 8.4, ROT= 1.7, -8.4
2025-09-20T20:22:59.627Z,1758399779.627 [DAT](INFO): got valid direction response:
20:23:01.1918 LVL= 25776, 28577, 26514, 30131, AGC= 68, IDX= 412,-0.34, 0.707,-1.033, 0.811, 0.426, PHS= 0.383,-1.414, 0.341, RAW= 148.8, 7.8, CAL= 148.3, 8.4, ROT= 1.7, -8.4
2025-09-20T20:22:59.628Z,1758399779.628 [DAT](INFO): DAT read: Bearing 266.7, 1.7 (Local)
2025-09-20T20:22:59.628Z,1758399779.628 [DAT](INFO): Local bearing/azimuth received:
Bearing 266.7, 1.7 (Local)
2025-09-20T20:22:59.629Z,1758399779.629 [DAT](INFO): DAT read: Range 11 to 50 : 103.0 m (Round-trip 137.4 ms) speed 0.4 m/s
2025-09-20T20:22:59.630Z,1758399779.630 [DAT](INFO): DAT read: user:225>
2025-09-20T20:22:59.652Z,1758399779.652 [DAT](INFO): DAT read: Tx time:20:23:02.3003
2025-09-20T20:22:59.653Z,1758399779.653 [DAT](INFO): Ping request sent.
2025-09-20T20:22:59.653Z,1758399779.653 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:22:59.654Z,1758399779.654 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:22:59.658Z,1758399779.658 [DAT](INFO): direction in FSK: [0.988837,0.029348,0.146083]
2025-09-20T20:22:59.664Z,1758399779.664 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:59.665Z,1758399779.665 [DAT](INFO): publishing direction and range info
2025-09-20T20:22:59.703Z,1758399779.703 [DAT](INFO): publishing transmit ping time
2025-09-20T20:22:59.703Z,1758399779.703 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:00.009Z,1758399780.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 103.000000 m,
deltaT: 3.794766 s,
deltaX: -2.199997 m,
approachRate: -0.579745 m/s,
rangeRepo size: 4
2025-09-20T20:23:00.015Z,1758399780.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 102.558609 m,
bearing: 103.071057 deg,
lat: 36.779220 deg,
lon: -121.859567 deg,
deltaT: 3.794766 s,
deltaX: -2.187729 m,
approachRate: -0.576512 m/s,
posRepo size: 4
2025-09-20T20:23:00.016Z,1758399780.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:00.018Z,1758399780.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 101.344139 m,
bearing: 104.387424 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.067350 deg/s,
cmd heading: 100.448785 deg,
new cmd heading: 100.508246 deg.
2025-09-20T20:23:00.024Z,1758399780.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754200 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:00.384Z,1758399780.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:00.387Z,1758399780.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 101.103172 m,
bearing: 104.412502 deg,
approach rate: -0.625121 m/s,
LOS rate: 0.065213 deg/s,
cmd heading: 100.508249 deg,
new cmd heading: 100.558524 deg.
2025-09-20T20:23:00.388Z,1758399780.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755077 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:00.823Z,1758399780.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:00.826Z,1758399780.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 100.844330 m,
bearing: 104.438110 deg,
approach rate: -0.590223 m/s,
LOS rate: 0.058541 deg/s,
cmd heading: 100.558526 deg,
new cmd heading: 100.609872 deg.
2025-09-20T20:23:00.827Z,1758399780.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755974 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:01.189Z,1758399781.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:01.192Z,1758399781.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 100.624222 m,
bearing: 104.459866 deg,
approach rate: -0.601283 m/s,
LOS rate: 0.059563 deg/s,
cmd heading: 100.609875 deg,
new cmd heading: 100.653483 deg.
2025-09-20T20:23:01.193Z,1758399781.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756735 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:01.621Z,1758399781.621 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:01.624Z,1758399781.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:01.626Z,1758399781.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 100.378098 m,
bearing: 104.484173 deg,
approach rate: -0.566010 m/s,
LOS rate: 0.056036 deg/s,
cmd heading: 100.653486 deg,
new cmd heading: 100.702219 deg.
2025-09-20T20:23:01.627Z,1758399781.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757585 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:01.864Z,1758399781.864 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:01.864Z,1758399781.864 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:01.864Z,1758399781.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:02.025Z,1758399782.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:02.028Z,1758399782.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 100.125778 m,
bearing: 104.508034 deg,
approach rate: -0.628110 m/s,
LOS rate: 0.059548 deg/s,
cmd heading: 100.702219 deg,
new cmd heading: 100.750061 deg.
2025-09-20T20:23:02.029Z,1758399782.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758420 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:02.117Z,1758399782.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463986
2025-09-20T20:23:02.368Z,1758399782.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.715182
2025-09-20T20:23:02.408Z,1758399782.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:02.411Z,1758399782.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 99.897308 m,
bearing: 104.529630 deg,
approach rate: -0.596800 m/s,
LOS rate: 0.056539 deg/s,
cmd heading: 100.750065 deg,
new cmd heading: 100.793354 deg.
2025-09-20T20:23:02.412Z,1758399782.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759176 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:02.621Z,1758399782.621 [DAT](INFO): DAT read: Rx Time:20:23:04.8388
2025-09-20T20:23:02.621Z,1758399782.621 [DAT](INFO): Rx dataTimestamp_ set to:1758399782.620928
2025-09-20T20:23:02.622Z,1758399782.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969031
2025-09-20T20:23:02.830Z,1758399782.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 102.56 m.
2025-09-20T20:23:02.833Z,1758399782.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 102.558609 m,
nav range: 99.647415 m,
bearing: 104.555773 deg,
approach rate: -0.591900 m/s,
LOS rate: 0.062078 deg/s,
cmd heading: 100.793354 deg,
new cmd heading: 100.845772 deg.
2025-09-20T20:23:02.834Z,1758399782.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.760091 target range: 102.558609 and range: 103.00 m.
2025-09-20T20:23:02.872Z,1758399782.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.219298
2025-09-20T20:23:03.130Z,1758399783.130 [DAT](INFO): DAT read: 20:23:04.8388 LVL= 26320, 28241, 25842, 32755, AGC= 67, IDX= 413, 0.30, 2.140, 0.388, 2.277, 1.853, PHS= 0.389,-1.420, 0.380, RAW= 149.8, 7.3, CAL= 149.2, 7.8, ROT= 0.8, -7.8
2025-09-20T20:23:03.131Z,1758399783.131 [DAT](INFO): got valid direction response:
20:23:04.8388 LVL= 26320, 28241, 25842, 32755, AGC= 67, IDX= 413, 0.30, 2.140, 0.388, 2.277, 1.853, PHS= 0.389,-1.420, 0.380, RAW= 149.8, 7.3, CAL= 149.2, 7.8, ROT= 0.8, -7.8
2025-09-20T20:23:03.132Z,1758399783.132 [DAT](INFO): DAT read: Bearing 266.7, 1.3 (Local)
2025-09-20T20:23:03.133Z,1758399783.133 [DAT](INFO): Local bearing/azimuth received:
Bearing 266.7, 1.3 (Local)
2025-09-20T20:23:03.134Z,1758399783.134 [DAT](INFO): DAT read: Range 11 to 50 : 100.8 m (Round-trip 134.4 ms) speed 0.5 m/s
2025-09-20T20:23:03.135Z,1758399783.135 [DAT](INFO): DAT read: user:226>
2025-09-20T20:23:03.136Z,1758399783.136 [DAT](INFO): DAT read: Tx time:20:23:05.9518
2025-09-20T20:23:03.136Z,1758399783.136 [DAT](INFO): Ping request sent.
2025-09-20T20:23:03.137Z,1758399783.137 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:03.137Z,1758399783.137 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:03.138Z,1758399783.138 [DAT](INFO): direction in FSK: [0.990651,0.013833,0.135716]
2025-09-20T20:23:03.138Z,1758399783.138 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:03.138Z,1758399783.138 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:03.142Z,1758399783.142 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:03.142Z,1758399783.142 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:03.276Z,1758399783.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 100.800003 m,
deltaT: 3.527886 s,
deltaX: -2.199997 m,
approachRate: -0.623602 m/s,
rangeRepo size: 4
2025-09-20T20:23:03.278Z,1758399783.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 100.367401 m,
bearing: 102.618925 deg,
lat: 36.779231 deg,
lon: -121.859564 deg,
deltaT: 3.527886 s,
deltaX: -2.191208 m,
approachRate: -0.621111 m/s,
posRepo size: 4
2025-09-20T20:23:03.278Z,1758399783.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:03.289Z,1758399783.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 99.343025 m,
bearing: 103.875734 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.062078 deg/s,
cmd heading: 100.845769 deg,
new cmd heading: 100.900360 deg.
2025-09-20T20:23:03.290Z,1758399783.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.761044 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:03.630Z,1758399783.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:03.633Z,1758399783.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:03.635Z,1758399783.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 99.111458 m,
bearing: 103.898332 deg,
approach rate: -0.638738 m/s,
LOS rate: 0.062479 deg/s,
cmd heading: 100.900363 deg,
new cmd heading: 100.945665 deg.
2025-09-20T20:23:03.636Z,1758399783.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.761834 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:03.883Z,1758399783.883 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:03.884Z,1758399783.884 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:03.884Z,1758399783.884 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:04.044Z,1758399784.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:04.047Z,1758399784.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 98.874168 m,
bearing: 103.921507 deg,
approach rate: -0.576662 m/s,
LOS rate: 0.056454 deg/s,
cmd heading: 100.945668 deg,
new cmd heading: 100.992128 deg.
2025-09-20T20:23:04.048Z,1758399784.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762645 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:04.133Z,1758399784.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996307
2025-09-20T20:23:04.384Z,1758399784.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247313
2025-09-20T20:23:04.450Z,1758399784.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:04.456Z,1758399784.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 98.654305 m,
bearing: 103.942967 deg,
approach rate: -0.574755 m/s,
LOS rate: 0.056224 deg/s,
cmd heading: 100.992126 deg,
new cmd heading: 101.035142 deg.
2025-09-20T20:23:04.457Z,1758399784.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.763396 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:04.636Z,1758399784.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499270
2025-09-20T20:23:04.865Z,1758399784.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:04.868Z,1758399784.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 98.398010 m,
bearing: 103.966492 deg,
approach rate: -0.584754 m/s,
LOS rate: 0.053814 deg/s,
cmd heading: 101.035143 deg,
new cmd heading: 101.082315 deg.
2025-09-20T20:23:04.869Z,1758399784.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764219 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:04.889Z,1758399784.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752575
2025-09-20T20:23:05.140Z,1758399785.140 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003292
2025-09-20T20:23:05.227Z,1758399785.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:05.242Z,1758399785.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 98.185623 m,
bearing: 103.985963 deg,
approach rate: -0.587316 m/s,
LOS rate: 0.053960 deg/s,
cmd heading: 101.082312 deg,
new cmd heading: 101.121339 deg.
2025-09-20T20:23:05.242Z,1758399785.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764900 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:05.392Z,1758399785.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255384
2025-09-20T20:23:05.633Z,1758399785.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:05.635Z,1758399785.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:05.637Z,1758399785.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 97.946747 m,
bearing: 104.007913 deg,
approach rate: -0.585249 m/s,
LOS rate: 0.053910 deg/s,
cmd heading: 101.121340 deg,
new cmd heading: 101.165348 deg.
2025-09-20T20:23:05.638Z,1758399785.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765668 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:05.644Z,1758399785.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507607
2025-09-20T20:23:05.897Z,1758399785.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759965
2025-09-20T20:23:06.059Z,1758399786.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:06.062Z,1758399786.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 97.701042 m,
bearing: 104.030979 deg,
approach rate: -0.579265 m/s,
LOS rate: 0.054516 deg/s,
cmd heading: 101.165347 deg,
new cmd heading: 101.211594 deg.
2025-09-20T20:23:06.063Z,1758399786.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.766476 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:06.149Z,1758399786.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012162
2025-09-20T20:23:06.400Z,1758399786.400 [DAT](INFO): DAT read: Rx Time:20:23:08.4875
2025-09-20T20:23:06.401Z,1758399786.401 [DAT](INFO): Rx dataTimestamp_ set to:1758399786.400224
2025-09-20T20:23:06.401Z,1758399786.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264416
2025-09-20T20:23:06.464Z,1758399786.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:06.466Z,1758399786.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 97.469017 m,
bearing: 104.052838 deg,
approach rate: -0.573186 m/s,
LOS rate: 0.054128 deg/s,
cmd heading: 101.211594 deg,
new cmd heading: 101.255416 deg.
2025-09-20T20:23:06.473Z,1758399786.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767240 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:06.652Z,1758399786.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515370
2025-09-20T20:23:06.877Z,1758399786.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.37 m.
2025-09-20T20:23:06.880Z,1758399786.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 100.367401 m,
nav range: 97.229637 m,
bearing: 104.076805 deg,
approach rate: -0.578913 m/s,
LOS rate: 0.058103 deg/s,
cmd heading: 101.255417 deg,
new cmd heading: 101.303468 deg.
2025-09-20T20:23:06.881Z,1758399786.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768079 target range: 100.367401 and range: 100.80 m.
2025-09-20T20:23:06.912Z,1758399786.912 [DAT](INFO): DAT read: 20:23:08.4875 LVL= 23008, 32753, 21874, 32755, AGC= 65, IDX= 416,-0.10,-1.928, 2.705,-1.797,-2.187, PHS= 0.361,-1.346, 0.346, RAW= 149.6, 7.6, CAL= 149.0, 8.1, ROT= 1.0, -8.1
2025-09-20T20:23:06.914Z,1758399786.914 [DAT](INFO): got valid direction response:
20:23:08.4875 LVL= 23008, 32753, 21874, 32755, AGC= 65, IDX= 416,-0.10,-1.928, 2.705,-1.797,-2.187, PHS= 0.361,-1.346, 0.346, RAW= 149.6, 7.6, CAL= 149.0, 8.1, ROT= 1.0, -8.1
2025-09-20T20:23:06.914Z,1758399786.914 [DAT](INFO): DAT read: Bearing 267.6, 1.7 (Local)
2025-09-20T20:23:06.915Z,1758399786.915 [DAT](INFO): Local bearing/azimuth received:
Bearing 267.6, 1.7 (Local)
2025-09-20T20:23:06.916Z,1758399786.916 [DAT](INFO): DAT read: Range 11 to 50 : 98.7 m (Round-trip 131.6 ms) speed 0.6 m/s
2025-09-20T20:23:06.917Z,1758399786.917 [DAT](INFO): DAT read: user:227>
2025-09-20T20:23:06.918Z,1758399786.918 [DAT](INFO): DAT read: Tx time:20:23:09.6002
2025-09-20T20:23:06.918Z,1758399786.918 [DAT](INFO): Ping request sent.
2025-09-20T20:23:06.918Z,1758399786.918 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:06.919Z,1758399786.919 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:06.920Z,1758399786.920 [DAT](INFO): direction in FSK: [0.989873,0.017278,0.140901]
2025-09-20T20:23:06.920Z,1758399786.920 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:06.920Z,1758399786.920 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:06.927Z,1758399786.927 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:06.928Z,1758399786.928 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:07.261Z,1758399787.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 98.699997 m,
deltaT: 3.781728 s,
deltaX: -2.100006 m,
approachRate: -0.555303 m/s,
rangeRepo size: 4
2025-09-20T20:23:07.263Z,1758399787.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 98.275261 m,
bearing: 103.159226 deg,
lat: 36.779240 deg,
lon: -121.859561 deg,
deltaT: 3.781728 s,
deltaX: -2.092140 m,
approachRate: -0.553223 m/s,
posRepo size: 4
2025-09-20T20:23:07.264Z,1758399787.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:07.266Z,1758399787.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 97.053947 m,
bearing: 103.446167 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.058103 deg/s,
cmd heading: 101.303467 deg,
new cmd heading: 101.347953 deg.
2025-09-20T20:23:07.283Z,1758399787.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768855 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:07.657Z,1758399787.657 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:07.664Z,1758399787.664 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:07.664Z,1758399787.664 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:07.664Z,1758399787.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:07.679Z,1758399787.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:07.682Z,1758399787.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 96.821907 m,
bearing: 103.467758 deg,
approach rate: -0.581532 m/s,
LOS rate: 0.054240 deg/s,
cmd heading: 101.347952 deg,
new cmd heading: 101.391237 deg.
2025-09-20T20:23:07.687Z,1758399787.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769611 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:07.919Z,1758399787.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000593
2025-09-20T20:23:08.121Z,1758399788.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:08.124Z,1758399788.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 96.559715 m,
bearing: 103.490983 deg,
approach rate: -0.568175 m/s,
LOS rate: 0.050465 deg/s,
cmd heading: 101.391235 deg,
new cmd heading: 101.437810 deg.
2025-09-20T20:23:08.125Z,1758399788.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.770424 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:08.169Z,1758399788.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250113
2025-09-20T20:23:08.420Z,1758399788.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501682
2025-09-20T20:23:08.510Z,1758399788.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:08.513Z,1758399788.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 96.334747 m,
bearing: 103.510868 deg,
approach rate: -0.577571 m/s,
LOS rate: 0.051171 deg/s,
cmd heading: 101.437810 deg,
new cmd heading: 101.477673 deg.
2025-09-20T20:23:08.514Z,1758399788.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771119 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:08.672Z,1758399788.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753802
2025-09-20T20:23:08.902Z,1758399788.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:08.905Z,1758399788.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 96.108238 m,
bearing: 103.532673 deg,
approach rate: -0.577508 m/s,
LOS rate: 0.055726 deg/s,
cmd heading: 101.477671 deg,
new cmd heading: 101.521385 deg.
2025-09-20T20:23:08.906Z,1758399788.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.771882 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:08.926Z,1758399788.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008211
2025-09-20T20:23:09.180Z,1758399789.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261670
2025-09-20T20:23:09.370Z,1758399789.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:09.372Z,1758399789.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 95.848297 m,
bearing: 103.557713 deg,
approach rate: -0.556240 m/s,
LOS rate: 0.053726 deg/s,
cmd heading: 101.521384 deg,
new cmd heading: 101.571598 deg.
2025-09-20T20:23:09.373Z,1758399789.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772759 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:09.432Z,1758399789.432 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514004
2025-09-20T20:23:09.684Z,1758399789.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765755
2025-09-20T20:23:09.688Z,1758399789.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:09.690Z,1758399789.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:09.693Z,1758399789.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 95.654861 m,
bearing: 103.576325 deg,
approach rate: -0.603069 m/s,
LOS rate: 0.058146 deg/s,
cmd heading: 101.571600 deg,
new cmd heading: 101.608901 deg.
2025-09-20T20:23:09.694Z,1758399789.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.773410 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:09.936Z,1758399789.936 [DAT](INFO): DAT read: Rx Time:20:23:12.1332
2025-09-20T20:23:09.936Z,1758399789.936 [DAT](INFO): Rx dataTimestamp_ set to:1758399789.936174
2025-09-20T20:23:09.937Z,1758399789.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018746
2025-09-20T20:23:10.139Z,1758399790.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.28 m.
2025-09-20T20:23:10.142Z,1758399790.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 98.275261 m,
nav range: 95.395569 m,
bearing: 103.601559 deg,
approach rate: -0.588826 m/s,
LOS rate: 0.057457 deg/s,
cmd heading: 101.608899 deg,
new cmd heading: 101.659503 deg.
2025-09-20T20:23:10.144Z,1758399790.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774293 target range: 98.275261 and range: 98.70 m.
2025-09-20T20:23:10.189Z,1758399790.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270433
2025-09-20T20:23:10.446Z,1758399790.446 [DAT](INFO): DAT read: 20:23:12.1332 LVL= 23104, 32561, 23826, 32483, AGC= 67, IDX= 419, 0.40, 2.837, 1.102, 2.995, 2.535, PHS= 0.403,-1.388, 0.416, RAW= 150.3, 6.4, CAL= 149.7, 6.7, ROT= 0.3, -6.7
2025-09-20T20:23:10.447Z,1758399790.447 [DAT](INFO): got valid direction response:
20:23:12.1332 LVL= 23104, 32561, 23826, 32483, AGC= 67, IDX= 419, 0.40, 2.837, 1.102, 2.995, 2.535, PHS= 0.403,-1.388, 0.416, RAW= 150.3, 6.4, CAL= 149.7, 6.7, ROT= 0.3, -6.7
2025-09-20T20:23:10.448Z,1758399790.448 [DAT](INFO): DAT read: Bearing 266.8, 1.3 (Local)
2025-09-20T20:23:10.448Z,1758399790.448 [DAT](INFO): Local bearing/azimuth received:
Bearing 266.8, 1.3 (Local)
2025-09-20T20:23:10.450Z,1758399790.450 [DAT](INFO): DAT read: Range 11 to 50 : 96.6 m (Round-trip 128.8 ms) speed 0.5 m/s
2025-09-20T20:23:10.450Z,1758399790.450 [DAT](INFO): DAT read: user:228>
2025-09-20T20:23:10.451Z,1758399790.451 [DAT](INFO): DAT read: Tx time:20:23:13.2502
2025-09-20T20:23:10.451Z,1758399790.451 [DAT](INFO): Ping request sent.
2025-09-20T20:23:10.451Z,1758399790.451 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:10.452Z,1758399790.452 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:10.453Z,1758399790.453 [DAT](INFO): direction in FSK: [0.993157,0.005200,0.116671]
2025-09-20T20:23:10.453Z,1758399790.453 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:10.453Z,1758399790.453 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:10.476Z,1758399790.476 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:10.477Z,1758399790.477 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:10.582Z,1758399790.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 96.599998 m,
deltaT: 3.533881 s,
deltaX: -2.099998 m,
approachRate: -0.594247 m/s,
rangeRepo size: 4
2025-09-20T20:23:10.603Z,1758399790.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 96.183289 m,
bearing: 102.779253 deg,
lat: 36.779245 deg,
lon: -121.859560 deg,
deltaT: 3.533881 s,
deltaX: -2.091972 m,
approachRate: -0.591976 m/s,
posRepo size: 4
2025-09-20T20:23:10.604Z,1758399790.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:10.606Z,1758399790.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 95.095245 m,
bearing: 103.330869 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.057457 deg/s,
cmd heading: 101.659504 deg,
new cmd heading: 101.711274 deg.
2025-09-20T20:23:10.612Z,1758399790.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775197 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:10.979Z,1758399790.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:10.989Z,1758399790.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 94.845009 m,
bearing: 103.351279 deg,
approach rate: -0.629808 m/s,
LOS rate: 0.051505 deg/s,
cmd heading: 101.711277 deg,
new cmd heading: 101.752205 deg.
2025-09-20T20:23:10.000Z,1758399791.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.775911 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:11.295Z,1758399791.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:11.298Z,1758399791.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 94.640083 m,
bearing: 103.367778 deg,
approach rate: -0.647941 m/s,
LOS rate: 0.052281 deg/s,
cmd heading: 101.752204 deg,
new cmd heading: 101.785273 deg.
2025-09-20T20:23:11.299Z,1758399791.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.776488 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:11.699Z,1758399791.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:11.701Z,1758399791.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:11.704Z,1758399791.704 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:11.704Z,1758399791.704 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:11.704Z,1758399791.704 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:11.708Z,1758399791.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 94.401039 m,
bearing: 103.387003 deg,
approach rate: -0.587862 m/s,
LOS rate: 0.047397 deg/s,
cmd heading: 101.785275 deg,
new cmd heading: 101.823822 deg.
2025-09-20T20:23:11.709Z,1758399791.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777161 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:11.956Z,1758399791.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504598
2025-09-20T20:23:12.135Z,1758399792.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:12.138Z,1758399792.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 94.143677 m,
bearing: 103.408252 deg,
approach rate: -0.593990 m/s,
LOS rate: 0.049176 deg/s,
cmd heading: 101.823825 deg,
new cmd heading: 101.866439 deg.
2025-09-20T20:23:12.139Z,1758399792.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777905 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:12.208Z,1758399792.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756836
2025-09-20T20:23:12.460Z,1758399792.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008665
2025-09-20T20:23:12.534Z,1758399792.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:12.601Z,1758399792.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 93.906807 m,
bearing: 103.427912 deg,
approach rate: -0.593663 m/s,
LOS rate: 0.049398 deg/s,
cmd heading: 101.866438 deg,
new cmd heading: 101.905858 deg.
2025-09-20T20:23:12.602Z,1758399792.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.778593 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:12.713Z,1758399792.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260991
2025-09-20T20:23:12.968Z,1758399792.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516557
2025-09-20T20:23:12.981Z,1758399792.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:12.985Z,1758399792.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 93.640282 m,
bearing: 103.450575 deg,
approach rate: -0.595436 m/s,
LOS rate: 0.050776 deg/s,
cmd heading: 101.905856 deg,
new cmd heading: 101.951312 deg.
2025-09-20T20:23:12.985Z,1758399792.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779386 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:13.220Z,1758399793.220 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768627
2025-09-20T20:23:13.360Z,1758399793.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:13.374Z,1758399793.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 93.414452 m,
bearing: 103.469640 deg,
approach rate: -0.595979 m/s,
LOS rate: 0.050434 deg/s,
cmd heading: 101.951310 deg,
new cmd heading: 101.989532 deg.
2025-09-20T20:23:13.376Z,1758399793.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780053 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:13.472Z,1758399793.472 [DAT](INFO): DAT read: Rx Time:20:23:15.7802
2025-09-20T20:23:13.473Z,1758399793.473 [DAT](INFO): Rx dataTimestamp_ set to:1758399793.472373
2025-09-20T20:23:13.473Z,1758399793.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021793
2025-09-20T20:23:13.724Z,1758399793.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272491
2025-09-20T20:23:13.789Z,1758399793.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:13.791Z,1758399793.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:13.812Z,1758399793.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 93.169029 m,
bearing: 103.490245 deg,
approach rate: -0.569731 m/s,
LOS rate: 0.047959 deg/s,
cmd heading: 101.989532 deg,
new cmd heading: 102.030851 deg.
2025-09-20T20:23:13.813Z,1758399793.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780774 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:13.976Z,1758399793.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524587
2025-09-20T20:23:14.223Z,1758399794.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.18 m.
2025-09-20T20:23:14.226Z,1758399794.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 96.183289 m,
nav range: 92.908157 m,
bearing: 103.513362 deg,
approach rate: -0.604238 m/s,
LOS rate: 0.053694 deg/s,
cmd heading: 102.030848 deg,
new cmd heading: 102.077211 deg.
2025-09-20T20:23:14.234Z,1758399794.234 [DAT](INFO): DAT read: 20:23:15.7802 LVL= 21488, 28657, 21714, 32019, AGC= 66, IDX= 406,-0.32, 1.595,-0.097, 1.788, 1.344, PHS= 0.353,-1.395, 0.401, RAW= 151.3, 7.3, CAL= 150.7, 7.7, ROT= 359.3, -7.7
2025-09-20T20:23:14.236Z,1758399794.236 [DAT](INFO): got valid direction response:
20:23:15.7802 LVL= 21488, 28657, 21714, 32019, AGC= 66, IDX= 406,-0.32, 1.595,-0.097, 1.788, 1.344, PHS= 0.353,-1.395, 0.401, RAW= 151.3, 7.3, CAL= 150.7, 7.7, ROT= 359.3, -7.7
2025-09-20T20:23:14.237Z,1758399794.237 [DAT](INFO): DAT read: Bearing 268.5, 0.5 (Local)
2025-09-20T20:23:14.237Z,1758399794.237 [DAT](INFO): Local bearing/azimuth received:
Bearing 268.5, 0.5 (Local)
2025-09-20T20:23:14.238Z,1758399794.238 [DAT](INFO): DAT read: Range 11 to 50 : 94.3 m (Round-trip 125.8 ms) speed 0.5 m/s
2025-09-20T20:23:14.239Z,1758399794.239 [DAT](INFO): DAT read: user:229>
2025-09-20T20:23:14.240Z,1758399794.240 [DAT](INFO): DAT read: Tx time:20:23:16.9002
2025-09-20T20:23:14.240Z,1758399794.240 [DAT](INFO): Ping request sent.
2025-09-20T20:23:14.240Z,1758399794.240 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:14.240Z,1758399794.240 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:14.241Z,1758399794.241 [DAT](INFO): direction in FSK: [0.990909,-0.012107,0.133986]
2025-09-20T20:23:14.242Z,1758399794.242 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:14.242Z,1758399794.242 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:14.227Z,1758399794.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.781583 target range: 96.183289 and range: 96.60 m.
2025-09-20T20:23:14.266Z,1758399794.266 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:14.266Z,1758399794.266 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:14.632Z,1758399794.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 94.300003 m,
deltaT: 3.788761 s,
deltaX: -2.299995 m,
approachRate: -0.607057 m/s,
rangeRepo size: 4
2025-09-20T20:23:14.634Z,1758399794.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 93.892365 m,
bearing: 102.546707 deg,
lat: 36.779250 deg,
lon: -121.859560 deg,
deltaT: 3.788761 s,
deltaX: -2.290924 m,
approachRate: -0.604663 m/s,
posRepo size: 4
2025-09-20T20:23:14.634Z,1758399794.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:14.637Z,1758399794.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 92.555176 m,
bearing: 103.170786 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.053694 deg/s,
cmd heading: 102.077211 deg,
new cmd heading: 102.121030 deg.
2025-09-20T20:23:14.638Z,1758399794.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782348 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:15.029Z,1758399795.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:15.032Z,1758399795.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 92.320320 m,
bearing: 103.189703 deg,
approach rate: -0.589533 m/s,
LOS rate: 0.047607 deg/s,
cmd heading: 102.121027 deg,
new cmd heading: 102.158958 deg.
2025-09-20T20:23:15.033Z,1758399795.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783010 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:15.407Z,1758399795.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:15.409Z,1758399795.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 92.103363 m,
bearing: 103.207101 deg,
approach rate: -0.574582 m/s,
LOS rate: 0.046185 deg/s,
cmd heading: 102.158955 deg,
new cmd heading: 102.193833 deg.
2025-09-20T20:23:15.410Z,1758399795.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783619 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:15.816Z,1758399795.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:15.818Z,1758399795.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:15.821Z,1758399795.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 91.860321 m,
bearing: 103.226465 deg,
approach rate: -0.590250 m/s,
LOS rate: 0.047152 deg/s,
cmd heading: 102.193830 deg,
new cmd heading: 102.232661 deg.
2025-09-20T20:23:15.822Z,1758399795.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784297 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:15.992Z,1758399795.992 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:15.992Z,1758399795.992 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:15.992Z,1758399795.992 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:16.244Z,1758399796.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003897
2025-09-20T20:23:16.248Z,1758399796.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:16.250Z,1758399796.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 91.614227 m,
bearing: 103.245410 deg,
approach rate: -0.573661 m/s,
LOS rate: 0.044281 deg/s,
cmd heading: 102.232660 deg,
new cmd heading: 102.270651 deg.
2025-09-20T20:23:16.252Z,1758399796.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784960 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:16.496Z,1758399796.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256143
2025-09-20T20:23:16.631Z,1758399796.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:16.634Z,1758399796.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 91.392700 m,
bearing: 103.262189 deg,
approach rate: -0.577519 m/s,
LOS rate: 0.043850 deg/s,
cmd heading: 102.270649 deg,
new cmd heading: 102.304289 deg.
2025-09-20T20:23:16.635Z,1758399796.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785547 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:16.748Z,1758399796.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507754
2025-09-20T20:23:17.003Z,1758399797.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762391
2025-09-20T20:23:17.059Z,1758399797.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:17.065Z,1758399797.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 91.150688 m,
bearing: 103.279340 deg,
approach rate: -0.566714 m/s,
LOS rate: 0.040269 deg/s,
cmd heading: 102.304288 deg,
new cmd heading: 102.338681 deg.
2025-09-20T20:23:17.066Z,1758399797.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786147 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:17.252Z,1758399797.252 [DAT](INFO): DAT read: Rx Time:20:23:19.4274
2025-09-20T20:23:17.252Z,1758399797.252 [DAT](INFO): Rx dataTimestamp_ set to:1758399797.252102
2025-09-20T20:23:17.253Z,1758399797.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012722
2025-09-20T20:23:17.432Z,1758399797.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.89 m.
2025-09-20T20:23:17.435Z,1758399797.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 93.892365 m,
nav range: 90.928047 m,
bearing: 103.294886 deg,
approach rate: -0.594755 m/s,
LOS rate: 0.041629 deg/s,
cmd heading: 102.338678 deg,
new cmd heading: 102.369844 deg.
2025-09-20T20:23:17.436Z,1758399797.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786691 target range: 93.892365 and range: 94.30 m.
2025-09-20T20:23:17.506Z,1758399797.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265492
2025-09-20T20:23:17.764Z,1758399797.764 [DAT](INFO): DAT read: 20:23:19.4274 LVL= 24096, 27489, 26162, 32755, AGC= 68, IDX= 408,-0.03, 2.343, 0.684, 2.560, 2.104, PHS= 0.341,-1.375, 0.412, RAW= 152.0, 7.2, CAL= 151.4, 7.6, ROT= 358.6, -7.6
2025-09-20T20:23:17.766Z,1758399797.766 [DAT](INFO): got valid direction response:
20:23:19.4274 LVL= 24096, 27489, 26162, 32755, AGC= 68, IDX= 408,-0.03, 2.343, 0.684, 2.560, 2.104, PHS= 0.341,-1.375, 0.412, RAW= 152.0, 7.2, CAL= 151.4, 7.6, ROT= 358.6, -7.6
2025-09-20T20:23:17.767Z,1758399797.767 [DAT](INFO): DAT read: Bearing 269.2, 0.1 (Local)
2025-09-20T20:23:17.768Z,1758399797.768 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.2, 0.1 (Local)
2025-09-20T20:23:17.770Z,1758399797.770 [DAT](INFO): DAT read: Range 11 to 50 : 92.2 m (Round-trip 123.0 ms) speed 0.7 m/s
2025-09-20T20:23:17.771Z,1758399797.771 [DAT](INFO): DAT read: user:230>
2025-09-20T20:23:17.772Z,1758399797.772 [DAT](INFO): DAT read: Tx time:20:23:20.5502
2025-09-20T20:23:17.773Z,1758399797.773 [DAT](INFO): Ping request sent.
2025-09-20T20:23:17.773Z,1758399797.773 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:17.773Z,1758399797.773 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:17.775Z,1758399797.775 [DAT](INFO): direction in FSK: [0.990920,-0.024217,0.132256]
2025-09-20T20:23:17.776Z,1758399797.776 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:17.776Z,1758399797.776 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:17.781Z,1758399797.781 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:17.781Z,1758399797.781 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:17.985Z,1758399797.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 92.199997 m,
deltaT: 3.527720 s,
deltaX: -2.100006 m,
approachRate: -0.595287 m/s,
rangeRepo size: 4
2025-09-20T20:23:17.991Z,1758399797.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 91.801117 m,
bearing: 102.316412 deg,
lat: 36.779253 deg,
lon: -121.859556 deg,
deltaT: 3.527720 s,
deltaX: -2.091248 m,
approachRate: -0.592804 m/s,
posRepo size: 4
2025-09-20T20:23:17.992Z,1758399797.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:17.995Z,1758399797.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 90.891335 m,
bearing: 103.107297 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.041629 deg/s,
cmd heading: 102.369844 deg,
new cmd heading: 102.415814 deg.
2025-09-20T20:23:17.000Z,1758399798.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787493 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:18.350Z,1758399798.350 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:18.353Z,1758399798.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:18.372Z,1758399798.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 90.637535 m,
bearing: 103.123508 deg,
approach rate: -0.689654 m/s,
LOS rate: 0.044173 deg/s,
cmd heading: 102.415811 deg,
new cmd heading: 102.448323 deg.
2025-09-20T20:23:18.373Z,1758399798.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788061 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:18.512Z,1758399798.512 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:18.512Z,1758399798.512 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:18.512Z,1758399798.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:18.731Z,1758399798.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:18.734Z,1758399798.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 90.415207 m,
bearing: 103.137636 deg,
approach rate: -0.587997 m/s,
LOS rate: 0.037457 deg/s,
cmd heading: 102.448323 deg,
new cmd heading: 102.476648 deg.
2025-09-20T20:23:18.735Z,1758399798.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.788555 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:18.765Z,1758399798.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991759
2025-09-20T20:23:19.020Z,1758399799.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246785
2025-09-20T20:23:19.164Z,1758399799.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:19.167Z,1758399799.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 90.158470 m,
bearing: 103.151720 deg,
approach rate: -0.592183 m/s,
LOS rate: 0.032579 deg/s,
cmd heading: 102.476648 deg,
new cmd heading: 102.504897 deg.
2025-09-20T20:23:19.168Z,1758399799.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789048 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:19.269Z,1758399799.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495505
2025-09-20T20:23:19.520Z,1758399799.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747073
2025-09-20T20:23:19.567Z,1758399799.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:19.585Z,1758399799.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 89.933907 m,
bearing: 103.163977 deg,
approach rate: -0.558154 m/s,
LOS rate: 0.030540 deg/s,
cmd heading: 102.504897 deg,
new cmd heading: 102.529472 deg.
2025-09-20T20:23:19.586Z,1758399799.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789477 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:19.776Z,1758399799.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003259
2025-09-20T20:23:20.013Z,1758399800.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:20.020Z,1758399800.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 89.662819 m,
bearing: 103.178770 deg,
approach rate: -0.607166 m/s,
LOS rate: 0.033234 deg/s,
cmd heading: 102.529472 deg,
new cmd heading: 102.559149 deg.
2025-09-20T20:23:20.021Z,1758399800.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789995 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:20.024Z,1758399800.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251300
2025-09-20T20:23:20.276Z,1758399800.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503511
2025-09-20T20:23:20.385Z,1758399800.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:20.388Z,1758399800.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:20.390Z,1758399800.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 89.437698 m,
bearing: 103.192359 deg,
approach rate: -0.602204 m/s,
LOS rate: 0.036440 deg/s,
cmd heading: 102.559149 deg,
new cmd heading: 102.586394 deg.
2025-09-20T20:23:20.391Z,1758399800.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790470 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:20.528Z,1758399800.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755075
2025-09-20T20:23:20.781Z,1758399800.781 [DAT](INFO): DAT read: Rx Time:20:23:23.0745
2025-09-20T20:23:20.781Z,1758399800.781 [DAT](INFO): Rx dataTimestamp_ set to:1758399800.781056
2025-09-20T20:23:20.782Z,1758399800.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009385
2025-09-20T20:23:20.785Z,1758399800.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:20.804Z,1758399800.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 89.212410 m,
bearing: 103.205898 deg,
approach rate: -0.566218 m/s,
LOS rate: 0.034115 deg/s,
cmd heading: 102.586395 deg,
new cmd heading: 102.613543 deg.
2025-09-20T20:23:20.805Z,1758399800.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790944 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:21.032Z,1758399801.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259154
2025-09-20T20:23:21.212Z,1758399801.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.80 m.
2025-09-20T20:23:21.215Z,1758399801.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 91.801117 m,
nav range: 88.959610 m,
bearing: 103.221078 deg,
approach rate: -0.591949 m/s,
LOS rate: 0.035646 deg/s,
cmd heading: 102.613545 deg,
new cmd heading: 102.643991 deg.
2025-09-20T20:23:21.216Z,1758399801.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.791476 target range: 91.801117 and range: 92.20 m.
2025-09-20T20:23:21.284Z,1758399801.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511543
2025-09-20T20:23:21.558Z,1758399801.558 [DAT](INFO): DAT read: 20:23:23.0745 LVL= 20976, 29809, 21682, 32755, AGC= 67, IDX= 410, 0.09,-2.813, 1.825,-2.578,-3.034, PHS= 0.324,-1.379, 0.412, RAW= 152.5, 7.4, CAL= 152.0, 7.8, ROT= 358.0, -7.8
2025-09-20T20:23:21.568Z,1758399801.568 [DAT](INFO): got valid direction response:
20:23:23.0745 LVL= 20976, 29809, 21682, 32755, AGC= 67, IDX= 410, 0.09,-2.813, 1.825,-2.578,-3.034, PHS= 0.324,-1.379, 0.412, RAW= 152.5, 7.4, CAL= 152.0, 7.8, ROT= 358.0, -7.8
2025-09-20T20:23:21.569Z,1758399801.569 [DAT](INFO): DAT read: Bearing 269.9, -0.4 (Local)
2025-09-20T20:23:21.569Z,1758399801.569 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.9, -0.4 (Local)
2025-09-20T20:23:21.571Z,1758399801.571 [DAT](INFO): DAT read: Range 11 to 50 : 90.0 m (Round-trip 120.1 ms) speed 0.8 m/s
2025-09-20T20:23:21.571Z,1758399801.571 [DAT](INFO): DAT read: user:231>
2025-09-20T20:23:21.572Z,1758399801.572 [DAT](INFO): DAT read: Tx time:20:23:24.2002
2025-09-20T20:23:21.572Z,1758399801.572 [DAT](INFO): Ping request sent.
2025-09-20T20:23:21.572Z,1758399801.572 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:21.573Z,1758399801.573 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:21.574Z,1758399801.574 [DAT](INFO): direction in FSK: [0.990144,-0.034577,0.135716]
2025-09-20T20:23:21.574Z,1758399801.574 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:21.574Z,1758399801.574 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:21.614Z,1758399801.614 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:21.614Z,1758399801.614 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:21.699Z,1758399801.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 90.000000 m,
deltaT: 3.780535 s,
deltaX: -2.199997 m,
approachRate: -0.581927 m/s,
rangeRepo size: 4
2025-09-20T20:23:21.701Z,1758399801.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 89.610428 m,
bearing: 102.218382 deg,
lat: 36.779259 deg,
lon: -121.859556 deg,
deltaT: 3.780535 s,
deltaX: -2.190689 m,
approachRate: -0.579465 m/s,
posRepo size: 4
2025-09-20T20:23:21.702Z,1758399801.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:21.709Z,1758399801.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 88.550964 m,
bearing: 102.798384 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035646 deg/s,
cmd heading: 102.643994 deg,
new cmd heading: 102.678399 deg.
2025-09-20T20:23:21.710Z,1758399801.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792076 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:22.098Z,1758399802.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:22.101Z,1758399802.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 88.286957 m,
bearing: 102.811912 deg,
approach rate: -0.653856 m/s,
LOS rate: 0.033605 deg/s,
cmd heading: 102.678398 deg,
new cmd heading: 102.705535 deg.
2025-09-20T20:23:22.102Z,1758399802.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792550 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:22.429Z,1758399802.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:22.432Z,1758399802.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:22.434Z,1758399802.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 88.086555 m,
bearing: 102.822107 deg,
approach rate: -0.601226 m/s,
LOS rate: 0.030653 deg/s,
cmd heading: 102.705534 deg,
new cmd heading: 102.725969 deg.
2025-09-20T20:23:22.435Z,1758399802.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792906 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:22.545Z,1758399802.545 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:22.545Z,1758399802.545 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:22.546Z,1758399802.546 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:22.796Z,1758399802.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.223530
2025-09-20T20:23:22.854Z,1758399802.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:22.857Z,1758399802.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 87.842278 m,
bearing: 102.834520 deg,
approach rate: -0.578526 m/s,
LOS rate: 0.029481 deg/s,
cmd heading: 102.725970 deg,
new cmd heading: 102.750866 deg.
2025-09-20T20:23:22.858Z,1758399802.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.793341 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:23.052Z,1758399803.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.479485
2025-09-20T20:23:23.274Z,1758399803.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:23.281Z,1758399803.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 87.601898 m,
bearing: 102.846374 deg,
approach rate: -0.571746 m/s,
LOS rate: 0.028272 deg/s,
cmd heading: 102.750866 deg,
new cmd heading: 102.774639 deg.
2025-09-20T20:23:23.282Z,1758399803.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.793756 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:23.300Z,1758399803.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.727652
2025-09-20T20:23:23.557Z,1758399803.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.984516
2025-09-20T20:23:23.663Z,1758399803.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:23.666Z,1758399803.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 87.378883 m,
bearing: 102.857364 deg,
approach rate: -0.579603 m/s,
LOS rate: 0.028636 deg/s,
cmd heading: 102.774642 deg,
new cmd heading: 102.796679 deg.
2025-09-20T20:23:23.671Z,1758399803.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794140 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:23.806Z,1758399803.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.233277
2025-09-20T20:23:24.059Z,1758399804.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.486092
2025-09-20T20:23:24.121Z,1758399804.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:24.128Z,1758399804.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 87.105980 m,
bearing: 102.872318 deg,
approach rate: -0.590795 m/s,
LOS rate: 0.032473 deg/s,
cmd heading: 102.796676 deg,
new cmd heading: 102.826677 deg.
2025-09-20T20:23:24.129Z,1758399804.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794664 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:24.308Z,1758399804.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.735497
2025-09-20T20:23:24.445Z,1758399804.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:24.447Z,1758399804.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:24.450Z,1758399804.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 86.901634 m,
bearing: 102.883494 deg,
approach rate: -0.626268 m/s,
LOS rate: 0.034333 deg/s,
cmd heading: 102.826674 deg,
new cmd heading: 102.849079 deg.
2025-09-20T20:23:24.451Z,1758399804.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795055 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:24.561Z,1758399804.561 [DAT](INFO): DAT read: Rx Time:20:23:26.7215
2025-09-20T20:23:24.561Z,1758399804.561 [DAT](INFO): Rx dataTimestamp_ set to:1758399804.560822
2025-09-20T20:23:24.562Z,1758399804.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989238
2025-09-20T20:23:24.812Z,1758399804.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.239543
2025-09-20T20:23:24.851Z,1758399804.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.61 m.
2025-09-20T20:23:24.854Z,1758399804.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 89.610428 m,
nav range: 86.663078 m,
bearing: 102.896541 deg,
approach rate: -0.591366 m/s,
LOS rate: 0.032431 deg/s,
cmd heading: 102.849077 deg,
new cmd heading: 102.875243 deg.
2025-09-20T20:23:24.855Z,1758399804.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795512 target range: 89.610428 and range: 90.00 m.
2025-09-20T20:23:25.102Z,1758399805.102 [DAT](INFO): DAT read: 20:23:26.7215 LVL= 24640, 32753, 20722, 32755, AGC= 66, IDX= 412, 0.36,-2.554, 2.063,-2.314,-2.799, PHS= 0.347,-1.376, 0.441, RAW= 152.6, 6.7, CAL= 152.0, 7.0, ROT= 358.0, -7.0
2025-09-20T20:23:25.109Z,1758399805.109 [DAT](INFO): got valid direction response:
20:23:26.7215 LVL= 24640, 32753, 20722, 32755, AGC= 66, IDX= 412, 0.36,-2.554, 2.063,-2.314,-2.799, PHS= 0.347,-1.376, 0.441, RAW= 152.6, 6.7, CAL= 152.0, 7.0, ROT= 358.0, -7.0
2025-09-20T20:23:25.110Z,1758399805.110 [DAT](INFO): DAT read: Bearing 269.5, -0.4 (Local)
2025-09-20T20:23:25.110Z,1758399805.110 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.5, -0.4 (Local)
2025-09-20T20:23:25.119Z,1758399805.119 [DAT](INFO): DAT read: Range 11 to 50 : 87.8 m (Round-trip 117.1 ms) speed 0.4 m/s
2025-09-20T20:23:25.124Z,1758399805.124 [DAT](INFO): DAT read: user:232>
2025-09-20T20:23:25.124Z,1758399805.124 [DAT](INFO): DAT read: Tx time:20:23:27.8502
2025-09-20T20:23:25.125Z,1758399805.125 [DAT](INFO): Ping request sent.
2025-09-20T20:23:25.125Z,1758399805.125 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:25.125Z,1758399805.125 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:25.126Z,1758399805.126 [DAT](INFO): direction in FSK: [0.991942,-0.034639,0.121869]
2025-09-20T20:23:25.126Z,1758399805.126 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:25.126Z,1758399805.126 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:25.134Z,1758399805.134 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:25.134Z,1758399805.134 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:25.339Z,1758399805.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 87.800003 m,
deltaT: 3.528680 s,
deltaX: -2.199997 m,
approachRate: -0.623462 m/s,
rangeRepo size: 4
2025-09-20T20:23:25.341Z,1758399805.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 87.419800 m,
bearing: 102.510902 deg,
lat: 36.779264 deg,
lon: -121.859556 deg,
deltaT: 3.528680 s,
deltaX: -2.190628 m,
approachRate: -0.620807 m/s,
posRepo size: 4
2025-09-20T20:23:25.342Z,1758399805.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:25.345Z,1758399805.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 86.268028 m,
bearing: 102.528599 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.032431 deg/s,
cmd heading: 102.875244 deg,
new cmd heading: 102.906615 deg.
2025-09-20T20:23:25.346Z,1758399805.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796059 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:25.675Z,1758399805.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:25.678Z,1758399805.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 86.064949 m,
bearing: 102.539128 deg,
approach rate: -0.603022 m/s,
LOS rate: 0.031338 deg/s,
cmd heading: 102.906615 deg,
new cmd heading: 102.927722 deg.
2025-09-20T20:23:25.683Z,1758399805.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796428 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:26.146Z,1758399806.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:26.153Z,1758399806.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 85.790474 m,
bearing: 102.555326 deg,
approach rate: -0.577569 m/s,
LOS rate: 0.034195 deg/s,
cmd heading: 102.927720 deg,
new cmd heading: 102.960221 deg.
2025-09-20T20:23:26.154Z,1758399806.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796995 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:26.365Z,1758399806.365 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:23:26.494Z,1758399806.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:26.497Z,1758399806.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:26.500Z,1758399806.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 85.573357 m,
bearing: 102.568295 deg,
approach rate: -0.619328 m/s,
LOS rate: 0.037088 deg/s,
cmd heading: 102.960218 deg,
new cmd heading: 102.986222 deg.
2025-09-20T20:23:26.501Z,1758399806.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797449 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:26.576Z,1758399806.576 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:26.576Z,1758399806.576 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:26.576Z,1758399806.576 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:26.828Z,1758399806.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.703318
2025-09-20T20:23:26.902Z,1758399806.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:26.905Z,1758399806.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 85.335075 m,
bearing: 102.582695 deg,
approach rate: -0.587497 m/s,
LOS rate: 0.035603 deg/s,
cmd heading: 102.986221 deg,
new cmd heading: 103.015101 deg.
2025-09-20T20:23:26.906Z,1758399806.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797953 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:27.083Z,1758399807.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.957245
2025-09-20T20:23:27.332Z,1758399807.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.207656
2025-09-20T20:23:27.333Z,1758399807.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:27.336Z,1758399807.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 85.079697 m,
bearing: 102.598312 deg,
approach rate: -0.592474 m/s,
LOS rate: 0.036340 deg/s,
cmd heading: 103.015099 deg,
new cmd heading: 103.046427 deg.
2025-09-20T20:23:27.337Z,1758399807.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798499 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:27.368Z,1758399807.368 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:23:27.586Z,1758399807.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460715
2025-09-20T20:23:27.712Z,1758399807.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:27.714Z,1758399807.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 84.853050 m,
bearing: 102.612290 deg,
approach rate: -0.598840 m/s,
LOS rate: 0.037031 deg/s,
cmd heading: 103.046429 deg,
new cmd heading: 103.074460 deg.
2025-09-20T20:23:27.716Z,1758399807.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798989 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:27.836Z,1758399807.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711263
2025-09-20T20:23:28.091Z,1758399808.091 [DAT](INFO): DAT read: Rx Time:20:23:30.3688
2025-09-20T20:23:28.093Z,1758399808.093 [DAT](INFO): Rx dataTimestamp_ set to:1758399808.091959
2025-09-20T20:23:28.095Z,1758399808.095 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969494
2025-09-20T20:23:28.197Z,1758399808.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:28.199Z,1758399808.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 84.563683 m,
bearing: 102.631230 deg,
approach rate: -0.597048 m/s,
LOS rate: 0.039211 deg/s,
cmd heading: 103.074460 deg,
new cmd heading: 103.112468 deg.
2025-09-20T20:23:28.200Z,1758399808.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.799652 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:28.340Z,1758399808.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.215335
2025-09-20T20:23:28.558Z,1758399808.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:28.561Z,1758399808.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.42 m.
2025-09-20T20:23:28.567Z,1758399808.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 87.419800 m,
nav range: 84.358307 m,
bearing: 102.644821 deg,
approach rate: -0.564027 m/s,
LOS rate: 0.037417 deg/s,
cmd heading: 103.112470 deg,
new cmd heading: 103.139719 deg.
2025-09-20T20:23:28.568Z,1758399808.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800128 target range: 87.419800 and range: 87.80 m.
2025-09-20T20:23:28.595Z,1758399808.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.470153
2025-09-20T20:23:28.850Z,1758399808.850 [DAT](INFO): DAT read: 20:23:30.3688 LVL= 23776, 31201, 23538, 32755, AGC= 66, IDX= 416,-0.08, 2.589, 0.959, 2.841, 2.374, PHS= 0.318,-1.370, 0.423, RAW= 153.0, 7.3, CAL= 152.4, 7.6, ROT= 357.6, -7.6
2025-09-20T20:23:28.852Z,1758399808.852 [DAT](INFO): got valid direction response:
20:23:30.3688 LVL= 23776, 31201, 23538, 32755, AGC= 66, IDX= 416,-0.08, 2.589, 0.959, 2.841, 2.374, PHS= 0.318,-1.370, 0.423, RAW= 153.0, 7.3, CAL= 152.4, 7.6, ROT= 357.6, -7.6
2025-09-20T20:23:28.853Z,1758399808.853 [DAT](INFO): DAT read: Bearing 270.1, -0.6 (Local)
2025-09-20T20:23:28.854Z,1758399808.854 [DAT](INFO): Local bearing/azimuth received:
Bearing 270.1, -0.6 (Local)
2025-09-20T20:23:28.856Z,1758399808.856 [DAT](INFO): DAT read: Range 11 to 50 : 85.8 m (Round-trip 114.4 ms) speed 0.5 m/s
2025-09-20T20:23:28.857Z,1758399808.857 [DAT](INFO): DAT read: user:233>
2025-09-20T20:23:28.858Z,1758399808.858 [DAT](INFO): DAT read: Tx time:20:23:31.5002
2025-09-20T20:23:28.858Z,1758399808.858 [DAT](INFO): Ping request sent.
2025-09-20T20:23:28.858Z,1758399808.858 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:28.862Z,1758399808.862 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:28.865Z,1758399808.865 [DAT](INFO): direction in FSK: [0.990346,-0.041507,0.132256]
2025-09-20T20:23:28.866Z,1758399808.866 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:28.866Z,1758399808.866 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:28.871Z,1758399808.871 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:28.872Z,1758399808.872 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:29.050Z,1758399809.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 85.800003 m,
deltaT: 3.779052 s,
deltaX: -2.000000 m,
approachRate: -0.529233 m/s,
rangeRepo size: 4
2025-09-20T20:23:29.056Z,1758399809.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 85.426048 m,
bearing: 102.049116 deg,
lat: 36.779264 deg,
lon: -121.859556 deg,
deltaT: 3.779052 s,
deltaX: -1.993752 m,
approachRate: -0.527580 m/s,
posRepo size: 4
2025-09-20T20:23:29.057Z,1758399809.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:29.063Z,1758399809.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 84.085747 m,
bearing: 102.656114 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.037417 deg/s,
cmd heading: 103.139722 deg,
new cmd heading: 103.176260 deg.
2025-09-20T20:23:29.064Z,1758399809.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800765 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:29.487Z,1758399809.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:29.490Z,1758399809.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 83.818756 m,
bearing: 102.673390 deg,
approach rate: -0.615043 m/s,
LOS rate: 0.039924 deg/s,
cmd heading: 103.176257 deg,
new cmd heading: 103.210919 deg.
2025-09-20T20:23:29.495Z,1758399809.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801370 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:29.849Z,1758399809.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:29.852Z,1758399809.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 83.592659 m,
bearing: 102.688167 deg,
approach rate: -0.618204 m/s,
LOS rate: 0.040514 deg/s,
cmd heading: 103.210920 deg,
new cmd heading: 103.240555 deg.
2025-09-20T20:23:29.853Z,1758399809.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801888 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:30.281Z,1758399810.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:30.284Z,1758399810.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 83.333061 m,
bearing: 102.702077 deg,
approach rate: -0.600369 m/s,
LOS rate: 0.032269 deg/s,
cmd heading: 103.240556 deg,
new cmd heading: 103.268462 deg.
2025-09-20T20:23:30.285Z,1758399810.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802375 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:30.670Z,1758399810.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:30.676Z,1758399810.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:30.679Z,1758399810.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 83.108086 m,
bearing: 102.714316 deg,
approach rate: -0.569557 m/s,
LOS rate: 0.031068 deg/s,
cmd heading: 103.268465 deg,
new cmd heading: 103.293009 deg.
2025-09-20T20:23:30.684Z,1758399810.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802803 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:30.864Z,1758399810.864 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:30.864Z,1758399810.864 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:30.864Z,1758399810.864 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:31.066Z,1758399811.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:31.069Z,1758399811.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 82.861549 m,
bearing: 102.727849 deg,
approach rate: -0.632007 m/s,
LOS rate: 0.034797 deg/s,
cmd heading: 103.293005 deg,
new cmd heading: 103.320153 deg.
2025-09-20T20:23:31.070Z,1758399811.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803277 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:31.121Z,1758399811.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261781
2025-09-20T20:23:31.368Z,1758399811.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509492
2025-09-20T20:23:31.580Z,1758399811.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:31.583Z,1758399811.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 82.566864 m,
bearing: 102.743945 deg,
approach rate: -0.573389 m/s,
LOS rate: 0.031430 deg/s,
cmd heading: 103.320155 deg,
new cmd heading: 103.352462 deg.
2025-09-20T20:23:31.584Z,1758399811.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803841 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:31.621Z,1758399811.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762126
2025-09-20T20:23:31.872Z,1758399811.872 [DAT](INFO): DAT read: Rx Time:20:23:34.0158
2025-09-20T20:23:31.872Z,1758399811.872 [DAT](INFO): Rx dataTimestamp_ set to:1758399811.872117
2025-09-20T20:23:31.873Z,1758399811.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014454
2025-09-20T20:23:32.053Z,1758399812.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 85.43 m.
2025-09-20T20:23:32.060Z,1758399812.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 85.426048 m,
nav range: 82.283516 m,
bearing: 102.759584 deg,
approach rate: -0.598770 m/s,
LOS rate: 0.033163 deg/s,
cmd heading: 103.352462 deg,
new cmd heading: 103.383848 deg.
2025-09-20T20:23:32.061Z,1758399812.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804389 target range: 85.426048 and range: 85.80 m.
2025-09-20T20:23:32.129Z,1758399812.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269477
2025-09-20T20:23:32.382Z,1758399812.382 [DAT](INFO): DAT read: 20:23:34.0158 LVL= 19440, 31569, 19090, 29987, AGC= 65, IDX= 418,-0.35,-2.097, 2.569,-1.876,-2.332, PHS= 0.336,-1.338, 0.411, RAW= 152.2, 6.9, CAL= 151.6, 7.3, ROT= 358.4, -7.3
2025-09-20T20:23:32.383Z,1758399812.383 [DAT](INFO): got valid direction response:
20:23:34.0158 LVL= 19440, 31569, 19090, 29987, AGC= 65, IDX= 418,-0.35,-2.097, 2.569,-1.876,-2.332, PHS= 0.336,-1.338, 0.411, RAW= 152.2, 6.9, CAL= 151.6, 7.3, ROT= 358.4, -7.3
2025-09-20T20:23:32.384Z,1758399812.384 [DAT](INFO): DAT read: Bearing 269.3, 0.6 (Local)
2025-09-20T20:23:32.384Z,1758399812.384 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.3, 0.6 (Local)
2025-09-20T20:23:32.386Z,1758399812.386 [DAT](INFO): DAT read: Range 11 to 50 : 83.5 m (Round-trip 111.4 ms) speed 0.7 m/s
2025-09-20T20:23:32.386Z,1758399812.386 [DAT](INFO): DAT read: user:234>
2025-09-20T20:23:32.388Z,1758399812.388 [DAT](INFO): DAT read: Tx time:20:23:35.1502
2025-09-20T20:23:32.388Z,1758399812.388 [DAT](INFO): Ping request sent.
2025-09-20T20:23:32.388Z,1758399812.388 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:32.389Z,1758399812.389 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:32.390Z,1758399812.390 [DAT](INFO): direction in FSK: [0.991508,-0.027695,0.127065]
2025-09-20T20:23:32.390Z,1758399812.390 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:32.390Z,1758399812.390 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:32.393Z,1758399812.393 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:32.394Z,1758399812.394 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:32.653Z,1758399812.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 83.500000 m,
deltaT: 3.531275 s,
deltaX: -2.300003 m,
approachRate: -0.651324 m/s,
rangeRepo size: 4
2025-09-20T20:23:32.659Z,1758399812.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 83.130936 m,
bearing: 102.666181 deg,
lat: 36.779266 deg,
lon: -121.859556 deg,
deltaT: 3.531275 s,
deltaX: -2.295113 m,
approachRate: -0.649939 m/s,
posRepo size: 4
2025-09-20T20:23:32.660Z,1758399812.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:32.663Z,1758399812.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 81.888153 m,
bearing: 102.665900 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.033163 deg/s,
cmd heading: 103.383847 deg,
new cmd heading: 103.423587 deg.
2025-09-20T20:23:32.668Z,1758399812.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805082 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:32.985Z,1758399812.985 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:32.988Z,1758399812.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:32.990Z,1758399812.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 81.671799 m,
bearing: 102.679591 deg,
approach rate: -0.645867 m/s,
LOS rate: 0.040980 deg/s,
cmd heading: 103.423585 deg,
new cmd heading: 103.451040 deg.
2025-09-20T20:23:32.991Z,1758399812.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805561 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:33.132Z,1758399813.132 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:33.132Z,1758399813.132 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:33.132Z,1758399813.132 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:33.384Z,1758399813.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995961
2025-09-20T20:23:33.410Z,1758399813.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:33.412Z,1758399813.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 81.424660 m,
bearing: 102.692565 deg,
approach rate: -0.585651 m/s,
LOS rate: 0.030836 deg/s,
cmd heading: 103.451042 deg,
new cmd heading: 103.477067 deg.
2025-09-20T20:23:33.413Z,1758399813.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806015 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:33.636Z,1758399813.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247624
2025-09-20T20:23:33.825Z,1758399813.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:33.828Z,1758399813.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 81.195312 m,
bearing: 102.704786 deg,
approach rate: -0.554531 m/s,
LOS rate: 0.029633 deg/s,
cmd heading: 103.477065 deg,
new cmd heading: 103.501577 deg.
2025-09-20T20:23:33.829Z,1758399813.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806443 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:33.888Z,1758399813.888 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499761
2025-09-20T20:23:34.141Z,1758399814.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752164
2025-09-20T20:23:34.392Z,1758399814.392 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003791
2025-09-20T20:23:34.418Z,1758399814.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:34.421Z,1758399814.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 80.853371 m,
bearing: 102.724731 deg,
approach rate: -0.574467 m/s,
LOS rate: 0.033651 deg/s,
cmd heading: 103.501579 deg,
new cmd heading: 103.541639 deg.
2025-09-20T20:23:34.422Z,1758399814.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807142 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:34.644Z,1758399814.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256010
2025-09-20T20:23:34.742Z,1758399814.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:34.745Z,1758399814.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 80.652283 m,
bearing: 102.736670 deg,
approach rate: -0.621538 m/s,
LOS rate: 0.036992 deg/s,
cmd heading: 103.541638 deg,
new cmd heading: 103.565575 deg.
2025-09-20T20:23:34.746Z,1758399814.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807560 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:34.896Z,1758399814.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507623
2025-09-20T20:23:35.134Z,1758399815.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:35.136Z,1758399815.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:35.139Z,1758399815.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 80.424835 m,
bearing: 102.750347 deg,
approach rate: -0.576530 m/s,
LOS rate: 0.034767 deg/s,
cmd heading: 103.565578 deg,
new cmd heading: 103.593010 deg.
2025-09-20T20:23:35.140Z,1758399815.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808039 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:35.152Z,1758399815.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763761
2025-09-20T20:23:35.404Z,1758399815.404 [DAT](INFO): DAT read: Rx Time:20:23:37.6628
2025-09-20T20:23:35.404Z,1758399815.404 [DAT](INFO): Rx dataTimestamp_ set to:1758399815.404207
2025-09-20T20:23:35.405Z,1758399815.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016715
2025-09-20T20:23:35.575Z,1758399815.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:35.578Z,1758399815.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 80.167877 m,
bearing: 102.766444 deg,
approach rate: -0.585749 m/s,
LOS rate: 0.036811 deg/s,
cmd heading: 103.593008 deg,
new cmd heading: 103.625304 deg.
2025-09-20T20:23:35.579Z,1758399815.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808603 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:35.656Z,1758399815.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267610
2025-09-20T20:23:35.911Z,1758399815.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522063
2025-09-20T20:23:35.988Z,1758399815.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.13 m.
2025-09-20T20:23:35.995Z,1758399815.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 83.130936 m,
nav range: 79.933243 m,
bearing: 102.781346 deg,
approach rate: -0.568271 m/s,
LOS rate: 0.036198 deg/s,
cmd heading: 103.625301 deg,
new cmd heading: 103.655193 deg.
2025-09-20T20:23:35.996Z,1758399815.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.809124 target range: 83.130936 and range: 83.50 m.
2025-09-20T20:23:36.166Z,1758399816.166 [DAT](INFO): DAT read: 20:23:37.6628 LVL= 21104, 31121, 25842, 30867, AGC= 65, IDX= 419,-0.04, 1.602,-0.061, 1.818, 1.367, PHS= 0.338,-1.382, 0.407, RAW= 152.0, 7.3, CAL= 151.4, 7.7, ROT= 358.6, -7.7
2025-09-20T20:23:36.168Z,1758399816.168 [DAT](INFO): got valid direction response:
20:23:37.6628 LVL= 21104, 31121, 25842, 30867, AGC= 65, IDX= 419,-0.04, 1.602,-0.061, 1.818, 1.367, PHS= 0.338,-1.382, 0.407, RAW= 152.0, 7.3, CAL= 151.4, 7.7, ROT= 358.6, -7.7
2025-09-20T20:23:36.168Z,1758399816.168 [DAT](INFO): DAT read: Bearing 269.2, 1.1 (Local)
2025-09-20T20:23:36.169Z,1758399816.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.2, 1.1 (Local)
2025-09-20T20:23:36.172Z,1758399816.172 [DAT](INFO): DAT read: Range 11 to 50 : 81.3 m (Round-trip 108.4 ms) speed 0.5 m/s
2025-09-20T20:23:36.175Z,1758399816.175 [DAT](INFO): DAT read: user:235>
2025-09-20T20:23:36.178Z,1758399816.178 [DAT](INFO): DAT read: Tx time:20:23:38.7502
2025-09-20T20:23:36.179Z,1758399816.179 [DAT](INFO): Ping request sent.
2025-09-20T20:23:36.179Z,1758399816.179 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:36.181Z,1758399816.181 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:36.185Z,1758399816.185 [DAT](INFO): direction in FSK: [0.990687,-0.024212,0.133986]
2025-09-20T20:23:36.185Z,1758399816.185 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:36.186Z,1758399816.186 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:36.240Z,1758399816.240 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:36.240Z,1758399816.240 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:36.462Z,1758399816.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 81.300003 m,
deltaT: 3.784566 s,
deltaX: -2.199997 m,
approachRate: -0.581308 m/s,
rangeRepo size: 4
2025-09-20T20:23:36.469Z,1758399816.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 80.941872 m,
bearing: 102.457637 deg,
lat: 36.779267 deg,
lon: -121.859556 deg,
deltaT: 3.784566 s,
deltaX: -2.189064 m,
approachRate: -0.578419 m/s,
posRepo size: 4
2025-09-20T20:23:36.469Z,1758399816.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:36.474Z,1758399816.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 79.684540 m,
bearing: 102.685204 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.036198 deg/s,
cmd heading: 103.655190 deg,
new cmd heading: 103.689495 deg.
2025-09-20T20:23:36.483Z,1758399816.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.809723 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:36.846Z,1758399816.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:36.849Z,1758399816.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 79.453186 m,
bearing: 102.698128 deg,
approach rate: -0.602328 m/s,
LOS rate: 0.033745 deg/s,
cmd heading: 103.689498 deg,
new cmd heading: 103.715421 deg.
2025-09-20T20:23:36.850Z,1758399816.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810176 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:37.317Z,1758399817.317 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:37.320Z,1758399817.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:37.322Z,1758399817.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 79.170792 m,
bearing: 102.719142 deg,
approach rate: -0.595969 m/s,
LOS rate: 0.044507 deg/s,
cmd heading: 103.715419 deg,
new cmd heading: 103.757597 deg.
2025-09-20T20:23:37.324Z,1758399817.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810912 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:37.425Z,1758399817.425 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:37.425Z,1758399817.425 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:37.425Z,1758399817.425 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:37.648Z,1758399817.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:37.656Z,1758399817.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 78.976624 m,
bearing: 102.733705 deg,
approach rate: -0.591377 m/s,
LOS rate: 0.044461 deg/s,
cmd heading: 103.757595 deg,
new cmd heading: 103.786791 deg.
2025-09-20T20:23:37.657Z,1758399817.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811421 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:37.675Z,1758399817.675 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496651
2025-09-20T20:23:37.924Z,1758399817.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.745467
2025-09-20T20:23:38.050Z,1758399818.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:38.052Z,1758399818.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 78.739685 m,
bearing: 102.751654 deg,
approach rate: -0.590044 m/s,
LOS rate: 0.044833 deg/s,
cmd heading: 103.786794 deg,
new cmd heading: 103.822800 deg.
2025-09-20T20:23:38.053Z,1758399818.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812050 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:38.176Z,1758399818.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.997814
2025-09-20T20:23:38.428Z,1758399818.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249627
2025-09-20T20:23:38.529Z,1758399818.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:38.536Z,1758399818.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 78.467072 m,
bearing: 102.775597 deg,
approach rate: -0.568302 m/s,
LOS rate: 0.050086 deg/s,
cmd heading: 103.822803 deg,
new cmd heading: 103.870855 deg.
2025-09-20T20:23:38.537Z,1758399818.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812888 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:38.680Z,1758399818.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.501432
2025-09-20T20:23:38.860Z,1758399818.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:38.879Z,1758399818.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 78.262413 m,
bearing: 102.793701 deg,
approach rate: -0.618248 m/s,
LOS rate: 0.054832 deg/s,
cmd heading: 103.870853 deg,
new cmd heading: 103.907155 deg.
2025-09-20T20:23:38.880Z,1758399818.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813522 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:38.935Z,1758399818.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756054
2025-09-20T20:23:39.184Z,1758399819.184 [DAT](INFO): DAT read: Rx Time:20:23:41.2600
2025-09-20T20:23:39.185Z,1758399819.185 [DAT](INFO): Rx dataTimestamp_ set to:1758399819.184242
2025-09-20T20:23:39.185Z,1758399819.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006580
2025-09-20T20:23:39.354Z,1758399819.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:39.356Z,1758399819.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 80.94 m.
2025-09-20T20:23:39.358Z,1758399819.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 80.941872 m,
nav range: 77.971527 m,
bearing: 102.821444 deg,
approach rate: -0.587138 m/s,
LOS rate: 0.056208 deg/s,
cmd heading: 103.907156 deg,
new cmd heading: 103.962850 deg.
2025-09-20T20:23:39.360Z,1758399819.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814494 target range: 80.941872 and range: 81.30 m.
2025-09-20T20:23:39.437Z,1758399819.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258512
2025-09-20T20:23:39.694Z,1758399819.694 [DAT](INFO): DAT read: 20:23:41.2600 LVL= 21104, 26161, 23026, 32131, AGC= 66, IDX= 407,-0.23,-2.934, 1.678,-2.719, 3.103, PHS= 0.349,-1.380, 0.418, RAW= 151.9, 7.0, CAL= 151.3, 7.4, ROT= 358.7, -7.4
2025-09-20T20:23:39.695Z,1758399819.695 [DAT](INFO): got valid direction response:
20:23:41.2600 LVL= 21104, 26161, 23026, 32131, AGC= 66, IDX= 407,-0.23,-2.934, 1.678,-2.719, 3.103, PHS= 0.349,-1.380, 0.418, RAW= 151.9, 7.0, CAL= 151.3, 7.4, ROT= 358.7, -7.4
2025-09-20T20:23:39.696Z,1758399819.696 [DAT](INFO): DAT read: Bearing 268.8, 1.1 (Local)
2025-09-20T20:23:39.696Z,1758399819.696 [DAT](INFO): Local bearing/azimuth received:
Bearing 268.8, 1.1 (Local)
2025-09-20T20:23:39.698Z,1758399819.698 [DAT](INFO): DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.7 ms) speed 0.5 m/s
2025-09-20T20:23:39.698Z,1758399819.698 [DAT](INFO): DAT read: user:236>
2025-09-20T20:23:39.699Z,1758399819.699 [DAT](INFO): DAT read: Tx time:20:23:42.3501
2025-09-20T20:23:39.699Z,1758399819.699 [DAT](INFO): Ping request sent.
2025-09-20T20:23:39.699Z,1758399819.699 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:39.700Z,1758399819.700 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:39.701Z,1758399819.701 [DAT](INFO): direction in FSK: [0.991416,-0.022498,0.128796]
2025-09-20T20:23:39.701Z,1758399819.701 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:39.701Z,1758399819.701 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:39.704Z,1758399819.704 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:39.705Z,1758399819.705 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:39.865Z,1758399819.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 79.199997 m,
deltaT: 3.527373 s,
deltaX: -2.100006 m,
approachRate: -0.595346 m/s,
rangeRepo size: 4
2025-09-20T20:23:39.871Z,1758399819.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 78.849426 m,
bearing: 102.427977 deg,
lat: 36.779270 deg,
lon: -121.859555 deg,
deltaT: 3.527373 s,
deltaX: -2.092445 m,
approachRate: -0.593202 m/s,
posRepo size: 4
2025-09-20T20:23:39.872Z,1758399819.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:39.874Z,1758399819.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 77.643349 m,
bearing: 102.611327 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.056208 deg/s,
cmd heading: 103.962849 deg,
new cmd heading: 104.020013 deg.
2025-09-20T20:23:39.880Z,1758399819.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815492 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:40.197Z,1758399820.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:40.200Z,1758399820.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 77.423958 m,
bearing: 102.631834 deg,
approach rate: -0.658655 m/s,
LOS rate: 0.061741 deg/s,
cmd heading: 104.020011 deg,
new cmd heading: 104.061141 deg.
2025-09-20T20:23:40.201Z,1758399820.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816210 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:40.619Z,1758399820.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:40.626Z,1758399820.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 77.168823 m,
bearing: 102.658079 deg,
approach rate: -0.605076 m/s,
LOS rate: 0.062446 deg/s,
cmd heading: 104.061142 deg,
new cmd heading: 104.113804 deg.
2025-09-20T20:23:40.628Z,1758399820.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817129 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:41.018Z,1758399821.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:41.023Z,1758399821.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 76.932022 m,
bearing: 102.682469 deg,
approach rate: -0.593964 m/s,
LOS rate: 0.061367 deg/s,
cmd heading: 104.113803 deg,
new cmd heading: 104.162735 deg.
2025-09-20T20:23:41.043Z,1758399821.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817983 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:41.435Z,1758399821.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:41.437Z,1758399821.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:41.441Z,1758399821.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 76.676643 m,
bearing: 102.706406 deg,
approach rate: -0.609103 m/s,
LOS rate: 0.057281 deg/s,
cmd heading: 104.162734 deg,
new cmd heading: 104.210767 deg.
2025-09-20T20:23:41.442Z,1758399821.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818821 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:41.452Z,1758399821.452 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:41.452Z,1758399821.452 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:41.452Z,1758399821.452 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:41.704Z,1758399821.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004841
2025-09-20T20:23:41.841Z,1758399821.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:41.844Z,1758399821.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 76.433533 m,
bearing: 102.729343 deg,
approach rate: -0.602078 m/s,
LOS rate: 0.056985 deg/s,
cmd heading: 104.210764 deg,
new cmd heading: 104.256784 deg.
2025-09-20T20:23:41.845Z,1758399821.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819624 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:41.956Z,1758399821.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256450
2025-09-20T20:23:42.208Z,1758399822.208 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508542
2025-09-20T20:23:42.374Z,1758399822.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:42.377Z,1758399822.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 76.117958 m,
bearing: 102.760467 deg,
approach rate: -0.591654 m/s,
LOS rate: 0.058595 deg/s,
cmd heading: 104.256786 deg,
new cmd heading: 104.319293 deg.
2025-09-20T20:23:42.378Z,1758399822.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.820715 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:42.461Z,1758399822.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760973
2025-09-20T20:23:42.712Z,1758399822.712 [DAT](INFO): DAT read: Rx Time:20:23:44.8571
2025-09-20T20:23:42.713Z,1758399822.713 [DAT](INFO): Rx dataTimestamp_ set to:1758399822.712534
2025-09-20T20:23:42.713Z,1758399822.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013928
2025-09-20T20:23:42.807Z,1758399822.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.85 m.
2025-09-20T20:23:42.813Z,1758399822.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 78.849426 m,
nav range: 75.866814 m,
bearing: 102.785296 deg,
approach rate: -0.580849 m/s,
LOS rate: 0.057615 deg/s,
cmd heading: 104.319296 deg,
new cmd heading: 104.369118 deg.
2025-09-20T20:23:42.814Z,1758399822.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821585 target range: 78.849426 and range: 79.20 m.
2025-09-20T20:23:42.964Z,1758399822.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264594
2025-09-20T20:23:43.227Z,1758399823.227 [DAT](INFO): DAT read: 20:23:44.8571 LVL= 22960, 30577, 25538, 32755, AGC= 63, IDX= 409, 0.19,-2.366, 2.212,-2.152,-2.644, PHS= 0.380,-1.382, 0.448, RAW= 151.9, 6.2, CAL= 151.2, 6.5, ROT= 358.8, -6.5
2025-09-20T20:23:43.229Z,1758399823.229 [DAT](INFO): got valid direction response:
20:23:44.8571 LVL= 22960, 30577, 25538, 32755, AGC= 63, IDX= 409, 0.19,-2.366, 2.212,-2.152,-2.644, PHS= 0.380,-1.382, 0.448, RAW= 151.9, 6.2, CAL= 151.2, 6.5, ROT= 358.8, -6.5
2025-09-20T20:23:43.230Z,1758399823.230 [DAT](INFO): DAT read: Bearing 268.1, 1.0 (Local)
2025-09-20T20:23:43.231Z,1758399823.231 [DAT](INFO): Local bearing/azimuth received:
Bearing 268.1, 1.0 (Local)
2025-09-20T20:23:43.234Z,1758399823.234 [DAT](INFO): DAT read: Range 11 to 50 : 77.1 m (Round-trip 102.8 ms) speed 0.4 m/s
2025-09-20T20:23:43.234Z,1758399823.234 [DAT](INFO): DAT read: user:237>
2025-09-20T20:23:43.235Z,1758399823.235 [DAT](INFO): DAT read: Tx time:20:23:45.9501
2025-09-20T20:23:43.235Z,1758399823.235 [DAT](INFO): Ping request sent.
2025-09-20T20:23:43.236Z,1758399823.236 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:43.236Z,1758399823.236 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:43.237Z,1758399823.237 [DAT](INFO): direction in FSK: [0.993354,-0.020808,0.113203]
2025-09-20T20:23:43.237Z,1758399823.237 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:43.237Z,1758399823.237 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:43.257Z,1758399823.257 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:43.257Z,1758399823.257 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:43.515Z,1758399823.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 77.099998 m,
deltaT: 3.530274 s,
deltaX: -2.099998 m,
approachRate: -0.594854 m/s,
rangeRepo size: 4
2025-09-20T20:23:43.517Z,1758399823.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 76.758842 m,
bearing: 102.724039 deg,
lat: 36.779270 deg,
lon: -121.859554 deg,
deltaT: 3.530274 s,
deltaX: -2.090584 m,
approachRate: -0.592187 m/s,
posRepo size: 4
2025-09-20T20:23:43.518Z,1758399823.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:43.525Z,1758399823.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 75.555412 m,
bearing: 102.775168 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.057615 deg/s,
cmd heading: 104.369115 deg,
new cmd heading: 104.450134 deg.
2025-09-20T20:23:43.526Z,1758399823.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822999 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:43.839Z,1758399823.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:43.841Z,1758399823.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:43.857Z,1758399823.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 75.332390 m,
bearing: 102.794534 deg,
approach rate: -0.672494 m/s,
LOS rate: 0.058570 deg/s,
cmd heading: 104.450135 deg,
new cmd heading: 104.488983 deg.
2025-09-20T20:23:43.858Z,1758399823.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823677 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:43.972Z,1758399823.972 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:43.972Z,1758399823.972 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:43.972Z,1758399823.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:44.224Z,1758399824.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.988687
2025-09-20T20:23:44.259Z,1758399824.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:44.261Z,1758399824.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 75.089272 m,
bearing: 102.815676 deg,
approach rate: -0.582481 m/s,
LOS rate: 0.050818 deg/s,
cmd heading: 104.488985 deg,
new cmd heading: 104.531406 deg.
2025-09-20T20:23:44.262Z,1758399824.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.824417 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:44.477Z,1758399824.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240952
2025-09-20T20:23:44.668Z,1758399824.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:44.691Z,1758399824.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 74.850861 m,
bearing: 102.833396 deg,
approach rate: -0.581845 m/s,
LOS rate: 0.043383 deg/s,
cmd heading: 104.531408 deg,
new cmd heading: 104.566960 deg.
2025-09-20T20:23:44.692Z,1758399824.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825038 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:44.728Z,1758399824.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.492458
2025-09-20T20:23:44.982Z,1758399824.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746418
2025-09-20T20:23:45.092Z,1758399825.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:45.094Z,1758399825.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 74.611984 m,
bearing: 102.851265 deg,
approach rate: -0.564326 m/s,
LOS rate: 0.042350 deg/s,
cmd heading: 104.566959 deg,
new cmd heading: 104.602812 deg.
2025-09-20T20:23:45.096Z,1758399825.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825663 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:45.232Z,1758399825.232 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996341
2025-09-20T20:23:45.486Z,1758399825.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249804
2025-09-20T20:23:45.492Z,1758399825.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:45.516Z,1758399825.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 74.376816 m,
bearing: 102.866196 deg,
approach rate: -0.589945 m/s,
LOS rate: 0.037573 deg/s,
cmd heading: 104.602810 deg,
new cmd heading: 104.632765 deg.
2025-09-20T20:23:45.517Z,1758399825.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.826186 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:45.736Z,1758399825.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500288
2025-09-20T20:23:45.866Z,1758399825.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:45.868Z,1758399825.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:45.871Z,1758399825.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 74.150528 m,
bearing: 102.880576 deg,
approach rate: -0.599113 m/s,
LOS rate: 0.038190 deg/s,
cmd heading: 104.632768 deg,
new cmd heading: 104.661617 deg.
2025-09-20T20:23:45.872Z,1758399825.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.826690 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:45.989Z,1758399825.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753055
2025-09-20T20:23:46.240Z,1758399826.240 [DAT](INFO): DAT read: Rx Time:20:23:48.4542
2025-09-20T20:23:46.241Z,1758399826.241 [DAT](INFO): Rx dataTimestamp_ set to:1758399826.240243
2025-09-20T20:23:46.241Z,1758399826.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005441
2025-09-20T20:23:46.290Z,1758399826.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.76 m.
2025-09-20T20:23:46.297Z,1758399826.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 76.758842 m,
nav range: 73.917084 m,
bearing: 102.895311 deg,
approach rate: -0.562551 m/s,
LOS rate: 0.035620 deg/s,
cmd heading: 104.661618 deg,
new cmd heading: 104.691181 deg.
2025-09-20T20:23:46.298Z,1758399826.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827206 target range: 76.758842 and range: 77.10 m.
2025-09-20T20:23:46.493Z,1758399826.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257418
2025-09-20T20:23:46.750Z,1758399826.750 [DAT](INFO): DAT read: 20:23:48.4542 LVL= 23984, 32753, 21634, 32755, AGC= 65, IDX= 412, 0.41,-2.366, 2.247,-2.154,-2.600, PHS= 0.336,-1.391, 0.402, RAW= 151.9, 7.5, CAL= 151.3, 7.9, ROT= 358.7, -7.9
2025-09-20T20:23:46.752Z,1758399826.752 [DAT](INFO): got valid direction response:
20:23:48.4542 LVL= 23984, 32753, 21634, 32755, AGC= 65, IDX= 412, 0.41,-2.366, 2.247,-2.154,-2.600, PHS= 0.336,-1.391, 0.402, RAW= 151.9, 7.5, CAL= 151.3, 7.9, ROT= 358.7, -7.9
2025-09-20T20:23:46.753Z,1758399826.753 [DAT](INFO): DAT read: Bearing 269.8, 0.2 (Local)
2025-09-20T20:23:46.754Z,1758399826.754 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.8, 0.2 (Local)
2025-09-20T20:23:46.756Z,1758399826.756 [DAT](INFO): DAT read: Range 11 to 50 : 75.0 m (Round-trip 100.0 ms) speed 0.6 m/s
2025-09-20T20:23:46.757Z,1758399826.757 [DAT](INFO): DAT read: user:238>
2025-09-20T20:23:46.758Z,1758399826.758 [DAT](INFO): DAT read: Tx time:20:23:49.5501
2025-09-20T20:23:46.758Z,1758399826.758 [DAT](INFO): Ping request sent.
2025-09-20T20:23:46.758Z,1758399826.758 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:46.767Z,1758399826.767 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:46.769Z,1758399826.769 [DAT](INFO): direction in FSK: [0.990255,-0.022472,0.137445]
2025-09-20T20:23:46.769Z,1758399826.769 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:46.769Z,1758399826.769 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:46.782Z,1758399826.782 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:46.795Z,1758399826.795 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:46.814Z,1758399826.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 75.000000 m,
deltaT: 3.525924 s,
deltaX: -2.099998 m,
approachRate: -0.595588 m/s,
rangeRepo size: 4
2025-09-20T20:23:46.832Z,1758399826.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 74.668121 m,
bearing: 103.011088 deg,
lat: 36.779270 deg,
lon: -121.859555 deg,
deltaT: 3.525924 s,
deltaX: -2.090721 m,
approachRate: -0.592957 m/s,
posRepo size: 4
2025-09-20T20:23:46.833Z,1758399826.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:46.840Z,1758399826.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 73.608109 m,
bearing: 102.946566 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035620 deg/s,
cmd heading: 104.691179 deg,
new cmd heading: 104.728966 deg.
2025-09-20T20:23:46.841Z,1758399826.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827865 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:47.177Z,1758399827.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:47.180Z,1758399827.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 73.371880 m,
bearing: 102.959605 deg,
approach rate: -0.650310 m/s,
LOS rate: 0.036011 deg/s,
cmd heading: 104.728964 deg,
new cmd heading: 104.755126 deg.
2025-09-20T20:23:47.181Z,1758399827.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828322 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:47.603Z,1758399827.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:47.606Z,1758399827.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 73.127777 m,
bearing: 102.969401 deg,
approach rate: -0.572635 m/s,
LOS rate: 0.023056 deg/s,
cmd heading: 104.755124 deg,
new cmd heading: 104.774780 deg.
2025-09-20T20:23:47.607Z,1758399827.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828665 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:48.012Z,1758399828.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:48.014Z,1758399828.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:48.020Z,1758399828.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 72.906845 m,
bearing: 102.978178 deg,
approach rate: -0.537927 m/s,
LOS rate: 0.021434 deg/s,
cmd heading: 104.774781 deg,
new cmd heading: 104.792387 deg.
2025-09-20T20:23:48.021Z,1758399828.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828972 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:48.256Z,1758399828.256 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:48.257Z,1758399828.257 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:48.257Z,1758399828.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:48.453Z,1758399828.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:48.498Z,1758399828.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 72.642403 m,
bearing: 102.988879 deg,
approach rate: -0.602322 m/s,
LOS rate: 0.024463 deg/s,
cmd heading: 104.792389 deg,
new cmd heading: 104.813869 deg.
2025-09-20T20:23:48.508Z,1758399828.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749739
2025-09-20T20:23:48.509Z,1758399828.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829347 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:48.762Z,1758399828.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003161
2025-09-20T20:23:48.838Z,1758399828.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:48.841Z,1758399828.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 72.422791 m,
bearing: 102.997604 deg,
approach rate: -0.570046 m/s,
LOS rate: 0.022716 deg/s,
cmd heading: 104.813870 deg,
new cmd heading: 104.831373 deg.
2025-09-20T20:23:48.842Z,1758399828.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829653 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:49.012Z,1758399829.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253743
2025-09-20T20:23:49.246Z,1758399829.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:49.248Z,1758399829.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 72.190460 m,
bearing: 103.006748 deg,
approach rate: -0.569919 m/s,
LOS rate: 0.022504 deg/s,
cmd heading: 104.831376 deg,
new cmd heading: 104.849724 deg.
2025-09-20T20:23:49.249Z,1758399829.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829973 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:49.264Z,1758399829.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505771
2025-09-20T20:23:49.516Z,1758399829.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757963
2025-09-20T20:23:49.680Z,1758399829.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:49.682Z,1758399829.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 71.940727 m,
bearing: 103.023070 deg,
approach rate: -0.575381 m/s,
LOS rate: 0.037735 deg/s,
cmd heading: 104.849722 deg,
new cmd heading: 104.882478 deg.
2025-09-20T20:23:49.683Z,1758399829.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830545 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:49.770Z,1758399829.770 [DAT](INFO): DAT read: Rx Time:20:23:52.0514
2025-09-20T20:23:49.770Z,1758399829.770 [DAT](INFO): Rx dataTimestamp_ set to:1758399829.769742
2025-09-20T20:23:49.772Z,1758399829.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013714
2025-09-20T20:23:50.020Z,1758399830.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261751
2025-09-20T20:23:50.044Z,1758399830.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:50.046Z,1758399830.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:50.048Z,1758399830.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 71.730263 m,
bearing: 103.036705 deg,
approach rate: -0.575043 m/s,
LOS rate: 0.037364 deg/s,
cmd heading: 104.882479 deg,
new cmd heading: 104.909830 deg.
2025-09-20T20:23:50.049Z,1758399830.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.831022 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:50.276Z,1758399830.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517331
2025-09-20T20:23:50.521Z,1758399830.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.67 m.
2025-09-20T20:23:50.530Z,1758399830.530 [DAT](INFO): DAT read: 20:23:52.0514 LVL= 21488, 27249, 23906, 29651, AGC= 65, IDX= 415, 0.41,-1.916, 2.699,-1.681,-2.135, PHS= 0.321,-1.405, 0.410, RAW= 152.5, 7.7, CAL= 152.0, 8.1, ROT= 358.0, -8.1
2025-09-20T20:23:50.531Z,1758399830.531 [DAT](INFO): got valid direction response:
20:23:52.0514 LVL= 21488, 27249, 23906, 29651, AGC= 65, IDX= 415, 0.41,-1.916, 2.699,-1.681,-2.135, PHS= 0.321,-1.405, 0.410, RAW= 152.5, 7.7, CAL= 152.0, 8.1, ROT= 358.0, -8.1
2025-09-20T20:23:50.532Z,1758399830.532 [DAT](INFO): DAT read: Bearing 270.4, -1.3 (Local)
2025-09-20T20:23:50.532Z,1758399830.532 [DAT](INFO): Local bearing/azimuth received:
Bearing 270.4, -1.3 (Local)
2025-09-20T20:23:50.534Z,1758399830.534 [DAT](INFO): DAT read: Range 11 to 50 : 72.8 m (Round-trip 97.1 ms) speed 0.5 m/s
2025-09-20T20:23:50.534Z,1758399830.534 [DAT](INFO): DAT read: user:239>
2025-09-20T20:23:50.535Z,1758399830.535 [DAT](INFO): DAT read: Tx time:20:23:53.1501
2025-09-20T20:23:50.535Z,1758399830.535 [DAT](INFO): Ping request sent.
2025-09-20T20:23:50.536Z,1758399830.536 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:50.536Z,1758399830.536 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:50.537Z,1758399830.537 [DAT](INFO): direction in FSK: [0.989421,-0.034551,0.140901]
2025-09-20T20:23:50.537Z,1758399830.537 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:50.537Z,1758399830.537 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:50.539Z,1758399830.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 74.668121 m,
nav range: 71.456970 m,
bearing: 103.060813 deg,
approach rate: -0.575405 m/s,
LOS rate: 0.050953 deg/s,
cmd heading: 104.909827 deg,
new cmd heading: 104.958228 deg.
2025-09-20T20:23:50.540Z,1758399830.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.831867 target range: 74.668121 and range: 75.00 m.
2025-09-20T20:23:50.545Z,1758399830.545 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:50.545Z,1758399830.545 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:50.884Z,1758399830.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 72.800003 m,
deltaT: 3.780020 s,
deltaX: -2.199997 m,
approachRate: -0.582007 m/s,
rangeRepo size: 4
2025-09-20T20:23:50.886Z,1758399830.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 72.478668 m,
bearing: 102.862999 deg,
lat: 36.779270 deg,
lon: -121.859554 deg,
deltaT: 3.780020 s,
deltaX: -2.189453 m,
approachRate: -0.579217 m/s,
posRepo size: 4
2025-09-20T20:23:50.886Z,1758399830.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:50.893Z,1758399830.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 71.279762 m,
bearing: 103.041684 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.050953 deg/s,
cmd heading: 104.958226 deg,
new cmd heading: 104.993096 deg.
2025-09-20T20:23:50.894Z,1758399830.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832475 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:51.271Z,1758399831.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:51.274Z,1758399831.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 71.051987 m,
bearing: 103.061597 deg,
approach rate: -0.581060 m/s,
LOS rate: 0.050962 deg/s,
cmd heading: 104.993094 deg,
new cmd heading: 105.033048 deg.
2025-09-20T20:23:51.274Z,1758399831.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833173 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:51.697Z,1758399831.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:51.704Z,1758399831.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 70.811707 m,
bearing: 103.080727 deg,
approach rate: -0.543672 m/s,
LOS rate: 0.043432 deg/s,
cmd heading: 105.033051 deg,
new cmd heading: 105.071441 deg.
2025-09-20T20:23:51.705Z,1758399831.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.833843 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:52.073Z,1758399832.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:52.075Z,1758399832.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:52.078Z,1758399832.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 70.584892 m,
bearing: 103.098717 deg,
approach rate: -0.599971 m/s,
LOS rate: 0.047741 deg/s,
cmd heading: 105.071443 deg,
new cmd heading: 105.107540 deg.
2025-09-20T20:23:52.079Z,1758399832.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.834473 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:52.288Z,1758399832.288 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:52.289Z,1758399832.289 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:52.289Z,1758399832.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:52.527Z,1758399832.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:52.529Z,1758399832.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 70.320251 m,
bearing: 103.122272 deg,
approach rate: -0.585813 m/s,
LOS rate: 0.052337 deg/s,
cmd heading: 105.107541 deg,
new cmd heading: 105.154828 deg.
2025-09-20T20:23:52.530Z,1758399832.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.835298 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:52.540Z,1758399832.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004349
2025-09-20T20:23:52.792Z,1758399832.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256611
2025-09-20T20:23:52.889Z,1758399832.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:52.896Z,1758399832.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 70.117439 m,
bearing: 103.140270 deg,
approach rate: -0.559533 m/s,
LOS rate: 0.049799 deg/s,
cmd heading: 105.154826 deg,
new cmd heading: 105.190927 deg.
2025-09-20T20:23:52.897Z,1758399832.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.835928 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:53.044Z,1758399833.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508396
2025-09-20T20:23:53.279Z,1758399833.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:53.282Z,1758399833.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 69.880249 m,
bearing: 103.161285 deg,
approach rate: -0.608586 m/s,
LOS rate: 0.054103 deg/s,
cmd heading: 105.190924 deg,
new cmd heading: 105.233096 deg.
2025-09-20T20:23:53.282Z,1758399833.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.836664 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:53.296Z,1758399833.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760401
2025-09-20T20:23:53.548Z,1758399833.548 [DAT](INFO): DAT read: Rx Time:20:23:55.6487
2025-09-20T20:23:53.549Z,1758399833.549 [DAT](INFO): Rx dataTimestamp_ set to:1758399833.548226
2025-09-20T20:23:53.549Z,1758399833.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013452
2025-09-20T20:23:53.713Z,1758399833.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m.
2025-09-20T20:23:53.720Z,1758399833.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 72.478668 m,
nav range: 69.625648 m,
bearing: 103.184003 deg,
approach rate: -0.586173 m/s,
LOS rate: 0.052494 deg/s,
cmd heading: 105.233093 deg,
new cmd heading: 105.278694 deg.
2025-09-20T20:23:53.721Z,1758399833.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.837460 target range: 72.478668 and range: 72.80 m.
2025-09-20T20:23:53.801Z,1758399833.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265467
2025-09-20T20:23:54.058Z,1758399834.058 [DAT](INFO): DAT read: 20:23:55.6487 LVL= 19040, 25329, 18578, 30579, AGC= 64, IDX= 420,-0.42,-1.937, 2.697,-1.705,-2.143, PHS= 0.308,-1.398, 0.394, RAW= 152.4, 8.0, CAL= 151.9, 8.5, ROT= 358.1, -8.5
2025-09-20T20:23:54.059Z,1758399834.059 [DAT](INFO): got valid direction response:
20:23:55.6487 LVL= 19040, 25329, 18578, 30579, AGC= 64, IDX= 420,-0.42,-1.937, 2.697,-1.705,-2.143, PHS= 0.308,-1.398, 0.394, RAW= 152.4, 8.0, CAL= 151.9, 8.5, ROT= 358.1, -8.5
2025-09-20T20:23:54.060Z,1758399834.060 [DAT](INFO): DAT read: Bearing 271.2, -1.7 (Local)
2025-09-20T20:23:54.061Z,1758399834.061 [DAT](INFO): Local bearing/azimuth received:
Bearing 271.2, -1.7 (Local)
2025-09-20T20:23:54.062Z,1758399834.062 [DAT](INFO): DAT read: Range 11 to 50 : 70.8 m (Round-trip 94.4 ms) speed 0.5 m/s
2025-09-20T20:23:54.063Z,1758399834.063 [DAT](INFO): DAT read: user:240>
2025-09-20T20:23:54.064Z,1758399834.064 [DAT](INFO): DAT read: Tx time:20:23:56.7501
2025-09-20T20:23:54.064Z,1758399834.064 [DAT](INFO): Ping request sent.
2025-09-20T20:23:54.064Z,1758399834.064 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:54.064Z,1758399834.064 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:54.065Z,1758399834.065 [DAT](INFO): direction in FSK: [0.988472,-0.032791,0.147809]
2025-09-20T20:23:54.065Z,1758399834.065 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:54.066Z,1758399834.066 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:54.077Z,1758399834.077 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:54.077Z,1758399834.077 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:54.130Z,1758399834.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 70.800003 m,
deltaT: 3.527904 s,
deltaX: -2.000000 m,
approachRate: -0.566909 m/s,
rangeRepo size: 4
2025-09-20T20:23:54.140Z,1758399834.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 70.487633 m,
bearing: 103.427291 deg,
lat: 36.779270 deg,
lon: -121.859553 deg,
deltaT: 3.527904 s,
deltaX: -1.991035 m,
approachRate: -0.564368 m/s,
posRepo size: 4
2025-09-20T20:23:54.141Z,1758399834.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:54.164Z,1758399834.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 69.547089 m,
bearing: 103.175353 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.052494 deg/s,
cmd heading: 105.278692 deg,
new cmd heading: 105.322347 deg.
2025-09-20T20:23:54.165Z,1758399834.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.838222 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:54.557Z,1758399834.557 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:54.560Z,1758399834.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:54.562Z,1758399834.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 69.276939 m,
bearing: 103.201028 deg,
approach rate: -0.627029 m/s,
LOS rate: 0.059825 deg/s,
cmd heading: 105.322343 deg,
new cmd heading: 105.373894 deg.
2025-09-20T20:23:54.564Z,1758399834.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.839121 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:54.808Z,1758399834.808 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:54.808Z,1758399834.808 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:54.808Z,1758399834.808 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:54.924Z,1758399834.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:54.926Z,1758399834.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 69.063080 m,
bearing: 103.221280 deg,
approach rate: -0.587331 m/s,
LOS rate: 0.055793 deg/s,
cmd heading: 105.373891 deg,
new cmd heading: 105.414522 deg.
2025-09-20T20:23:54.932Z,1758399834.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.839831 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:55.061Z,1758399835.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996604
2025-09-20T20:23:55.303Z,1758399835.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:55.306Z,1758399835.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 68.836769 m,
bearing: 103.242664 deg,
approach rate: -0.597277 m/s,
LOS rate: 0.056621 deg/s,
cmd heading: 105.414524 deg,
new cmd heading: 105.457432 deg.
2025-09-20T20:23:55.306Z,1758399835.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840579 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:55.312Z,1758399835.312 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248086
2025-09-20T20:23:55.565Z,1758399835.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500448
2025-09-20T20:23:55.731Z,1758399835.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:55.734Z,1758399835.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 68.593742 m,
bearing: 103.264038 deg,
approach rate: -0.567542 m/s,
LOS rate: 0.050092 deg/s,
cmd heading: 105.457431 deg,
new cmd heading: 105.500330 deg.
2025-09-20T20:23:55.735Z,1758399835.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.841328 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:55.816Z,1758399835.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752440
2025-09-20T20:23:56.068Z,1758399836.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004038
2025-09-20T20:23:56.136Z,1758399836.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:56.139Z,1758399836.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 68.359314 m,
bearing: 103.284800 deg,
approach rate: -0.578197 m/s,
LOS rate: 0.051384 deg/s,
cmd heading: 105.500331 deg,
new cmd heading: 105.541998 deg.
2025-09-20T20:23:56.140Z,1758399836.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842055 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:56.323Z,1758399836.323 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259151
2025-09-20T20:23:56.572Z,1758399836.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508182
2025-09-20T20:23:56.580Z,1758399836.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:56.582Z,1758399836.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:56.585Z,1758399836.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 68.097733 m,
bearing: 103.305779 deg,
approach rate: -0.586775 m/s,
LOS rate: 0.047239 deg/s,
cmd heading: 105.541996 deg,
new cmd heading: 105.584113 deg.
2025-09-20T20:23:56.586Z,1758399836.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842790 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:56.825Z,1758399836.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760580
2025-09-20T20:23:56.959Z,1758399836.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:56.964Z,1758399836.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 67.879921 m,
bearing: 103.323370 deg,
approach rate: -0.578119 m/s,
LOS rate: 0.046842 deg/s,
cmd heading: 105.584110 deg,
new cmd heading: 105.619407 deg.
2025-09-20T20:23:56.966Z,1758399836.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.843406 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:57.077Z,1758399837.077 [DAT](INFO): DAT read: Rx Time:20:23:59.2458
2025-09-20T20:23:57.077Z,1758399837.077 [DAT](INFO): Rx dataTimestamp_ set to:1758399837.076939
2025-09-20T20:23:57.078Z,1758399837.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014186
2025-09-20T20:23:57.328Z,1758399837.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264185
2025-09-20T20:23:57.332Z,1758399837.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.49 m.
2025-09-20T20:23:57.336Z,1758399837.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 70.487633 m,
nav range: 67.658028 m,
bearing: 103.340952 deg,
approach rate: -0.594517 m/s,
LOS rate: 0.047262 deg/s,
cmd heading: 105.619409 deg,
new cmd heading: 105.654688 deg.
2025-09-20T20:23:57.337Z,1758399837.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844022 target range: 70.487633 and range: 70.80 m.
2025-09-20T20:23:57.505Z,1758399837.505 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:23:57.586Z,1758399837.586 [DAT](INFO): DAT read: 20:23:59.2458 LVL= 23488, 30097, 26354, 32755, AGC= 66, IDX= 406,-0.28,-2.100, 2.554,-1.838,-2.315, PHS= 0.317,-1.369, 0.432, RAW= 153.3, 7.2, CAL= 152.7, 7.5, ROT= 357.3, -7.5
2025-09-20T20:23:57.587Z,1758399837.587 [DAT](INFO): got valid direction response:
20:23:59.2458 LVL= 23488, 30097, 26354, 32755, AGC= 66, IDX= 406,-0.28,-2.100, 2.554,-1.838,-2.315, PHS= 0.317,-1.369, 0.432, RAW= 153.3, 7.2, CAL= 152.7, 7.5, ROT= 357.3, -7.5
2025-09-20T20:23:57.588Z,1758399837.588 [DAT](INFO): DAT read: Bearing 270.3, -2.9 (Local)
2025-09-20T20:23:57.588Z,1758399837.588 [DAT](INFO): Local bearing/azimuth received:
Bearing 270.3, -2.9 (Local)
2025-09-20T20:23:57.590Z,1758399837.590 [DAT](INFO): DAT read: Range 11 to 50 : 68.7 m (Round-trip 91.6 ms) speed 0.7 m/s
2025-09-20T20:23:57.590Z,1758399837.590 [DAT](INFO): DAT read: user:241>
2025-09-20T20:23:57.591Z,1758399837.591 [DAT](INFO): DAT read: Tx time:20:24:00.3500
2025-09-20T20:23:57.591Z,1758399837.591 [DAT](INFO): Ping request sent.
2025-09-20T20:23:57.591Z,1758399837.591 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:23:57.592Z,1758399837.592 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:23:57.593Z,1758399837.593 [DAT](INFO): direction in FSK: [0.990344,-0.046704,0.130526]
2025-09-20T20:23:57.593Z,1758399837.593 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:57.593Z,1758399837.593 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:57.597Z,1758399837.597 [DAT](INFO): publishing transmit ping time
2025-09-20T20:23:57.597Z,1758399837.597 [DAT](INFO): publishing direction and range info
2025-09-20T20:23:57.804Z,1758399837.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 68.699997 m,
deltaT: 3.528064 s,
deltaX: -2.100006 m,
approachRate: -0.595229 m/s,
rangeRepo size: 4
2025-09-20T20:23:57.806Z,1758399837.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 68.397491 m,
bearing: 103.160066 deg,
lat: 36.779270 deg,
lon: -121.859551 deg,
deltaT: 3.528064 s,
deltaX: -2.090141 m,
approachRate: -0.592433 m/s,
posRepo size: 4
2025-09-20T20:23:57.811Z,1758399837.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:23:57.814Z,1758399837.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 67.541237 m,
bearing: 103.327800 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.047262 deg/s,
cmd heading: 105.654687 deg,
new cmd heading: 105.699258 deg.
2025-09-20T20:23:57.819Z,1758399837.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844800 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:23:58.169Z,1758399838.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:23:58.172Z,1758399838.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 67.323578 m,
bearing: 103.341610 deg,
approach rate: -0.596373 m/s,
LOS rate: 0.037961 deg/s,
cmd heading: 105.699261 deg,
new cmd heading: 105.726970 deg.
2025-09-20T20:23:58.173Z,1758399838.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845284 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:23:58.508Z,1758399838.508 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:23:58.610Z,1758399838.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:23:58.612Z,1758399838.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:23:58.615Z,1758399838.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 67.060478 m,
bearing: 103.359096 deg,
approach rate: -0.593539 m/s,
LOS rate: 0.039604 deg/s,
cmd heading: 105.726971 deg,
new cmd heading: 105.762082 deg.
2025-09-20T20:23:58.616Z,1758399838.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845897 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:23:58.840Z,1758399838.840 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:23:58.840Z,1758399838.840 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:23:58.841Z,1758399838.841 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:23:58.981Z,1758399838.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:23:58.984Z,1758399838.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 66.843658 m,
bearing: 103.373459 deg,
approach rate: -0.586916 m/s,
LOS rate: 0.039004 deg/s,
cmd heading: 105.762085 deg,
new cmd heading: 105.790903 deg.
2025-09-20T20:23:58.985Z,1758399838.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846400 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:23:59.092Z,1758399839.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500720
2025-09-20T20:23:59.344Z,1758399839.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752511
2025-09-20T20:23:59.380Z,1758399839.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:23:59.382Z,1758399839.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 66.604622 m,
bearing: 103.389206 deg,
approach rate: -0.600433 m/s,
LOS rate: 0.039698 deg/s,
cmd heading: 105.790901 deg,
new cmd heading: 105.822509 deg.
2025-09-20T20:23:59.383Z,1758399839.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846951 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:23:59.598Z,1758399839.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006218
2025-09-20T20:23:59.826Z,1758399839.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:23:59.829Z,1758399839.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 66.355240 m,
bearing: 103.401839 deg,
approach rate: -0.558409 m/s,
LOS rate: 0.028392 deg/s,
cmd heading: 105.822511 deg,
new cmd heading: 105.847871 deg.
2025-09-20T20:23:59.830Z,1758399839.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847394 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:23:59.848Z,1758399839.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256606
2025-09-20T20:24:00.100Z,1758399840.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508394
2025-09-20T20:24:00.192Z,1758399840.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:24:00.195Z,1758399840.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 66.145340 m,
bearing: 103.412414 deg,
approach rate: -0.575316 m/s,
LOS rate: 0.029078 deg/s,
cmd heading: 105.847872 deg,
new cmd heading: 105.869090 deg.
2025-09-20T20:24:00.196Z,1758399840.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847764 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:24:00.352Z,1758399840.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760451
2025-09-20T20:24:00.604Z,1758399840.604 [DAT](INFO): DAT read: Rx Time:20:24:02.8428
2025-09-20T20:24:00.605Z,1758399840.605 [DAT](INFO): Rx dataTimestamp_ set to:1758399840.604352
2025-09-20T20:24:00.605Z,1758399840.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013646
2025-09-20T20:24:00.638Z,1758399840.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:00.672Z,1758399840.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:24:00.679Z,1758399840.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 65.874878 m,
bearing: 103.424198 deg,
approach rate: -0.561880 m/s,
LOS rate: 0.024582 deg/s,
cmd heading: 105.869093 deg,
new cmd heading: 105.892758 deg.
2025-09-20T20:24:00.680Z,1758399840.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848177 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:24:00.856Z,1758399840.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264410
2025-09-20T20:24:01.009Z,1758399841.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.40 m.
2025-09-20T20:24:01.011Z,1758399841.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 68.397491 m,
nav range: 65.660263 m,
bearing: 103.433454 deg,
approach rate: -0.638275 m/s,
LOS rate: 0.027616 deg/s,
cmd heading: 105.892760 deg,
new cmd heading: 105.911331 deg.
2025-09-20T20:24:01.012Z,1758399841.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848501 target range: 68.397491 and range: 68.70 m.
2025-09-20T20:24:01.122Z,1758399841.122 [DAT](INFO): DAT read: 20:24:02.8428 LVL= 19952, 25025, 22210, 29283, AGC= 65, IDX= 408, 0.17,-1.108,-2.724,-0.838,-1.329, PHS= 0.323,-1.350, 0.447, RAW= 153.5, 6.7, CAL= 152.9, 6.9, ROT= 357.1, -6.9
2025-09-20T20:24:01.125Z,1758399841.125 [DAT](INFO): got valid direction response:
20:24:02.8428 LVL= 19952, 25025, 22210, 29283, AGC= 65, IDX= 408, 0.17,-1.108,-2.724,-0.838,-1.329, PHS= 0.323,-1.350, 0.447, RAW= 153.5, 6.7, CAL= 152.9, 6.9, ROT= 357.1, -6.9
2025-09-20T20:24:01.126Z,1758399841.126 [DAT](INFO): DAT read: Bearing 270.2, -3.7 (Local)
2025-09-20T20:24:01.126Z,1758399841.126 [DAT](INFO): Local bearing/azimuth received:
Bearing 270.2, -3.7 (Local)
2025-09-20T20:24:01.127Z,1758399841.127 [DAT](INFO): DAT read: Range 11 to 50 : 66.4 m (Round-trip 88.6 ms) speed 0.4 m/s
2025-09-20T20:24:01.128Z,1758399841.128 [DAT](INFO): DAT read: user:242>
2025-09-20T20:24:01.129Z,1758399841.129 [DAT](INFO): DAT read: Tx time:20:24:03.9500
2025-09-20T20:24:01.129Z,1758399841.129 [DAT](INFO): Ping request sent.
2025-09-20T20:24:01.129Z,1758399841.129 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:01.130Z,1758399841.130 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:01.130Z,1758399841.130 [DAT](INFO): direction in FSK: [0.991486,-0.050227,0.120137]
2025-09-20T20:24:01.147Z,1758399841.147 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:01.147Z,1758399841.147 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:01.150Z,1758399841.150 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:01.151Z,1758399841.151 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:01.416Z,1758399841.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 66.400002 m,
deltaT: 3.530403 s,
deltaX: -2.299995 m,
approachRate: -0.651482 m/s,
rangeRepo size: 4
2025-09-20T20:24:01.418Z,1758399841.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 66.108498 m,
bearing: 103.403278 deg,
lat: 36.779270 deg,
lon: -121.859551 deg,
deltaT: 3.530403 s,
deltaX: -2.288994 m,
approachRate: -0.648366 m/s,
posRepo size: 4
2025-09-20T20:24:01.418Z,1758399841.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:01.421Z,1758399841.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 65.463242 m,
bearing: 103.449437 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.027616 deg/s,
cmd heading: 105.911331 deg,
new cmd heading: 105.933774 deg.
2025-09-20T20:24:01.422Z,1758399841.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848893 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:01.839Z,1758399841.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:01.842Z,1758399841.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 65.221741 m,
bearing: 103.457444 deg,
approach rate: -0.569455 m/s,
LOS rate: 0.018949 deg/s,
cmd heading: 105.933775 deg,
new cmd heading: 105.949847 deg.
2025-09-20T20:24:01.843Z,1758399841.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849174 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:02.219Z,1758399842.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:02.222Z,1758399842.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 65.009422 m,
bearing: 103.464390 deg,
approach rate: -0.559105 m/s,
LOS rate: 0.018350 deg/s,
cmd heading: 105.949847 deg,
new cmd heading: 105.963783 deg.
2025-09-20T20:24:02.222Z,1758399842.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849417 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:02.696Z,1758399842.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:02.698Z,1758399842.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:02.701Z,1758399842.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 64.739479 m,
bearing: 103.474520 deg,
approach rate: -0.563335 m/s,
LOS rate: 0.021230 deg/s,
cmd heading: 105.963780 deg,
new cmd heading: 105.984127 deg.
2025-09-20T20:24:02.702Z,1758399842.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849772 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:02.872Z,1758399842.872 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:02.872Z,1758399842.872 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:02.872Z,1758399842.872 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:03.086Z,1758399843.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:03.088Z,1758399843.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 64.521965 m,
bearing: 103.482589 deg,
approach rate: -0.561156 m/s,
LOS rate: 0.020887 deg/s,
cmd heading: 105.984127 deg,
new cmd heading: 106.000320 deg.
2025-09-20T20:24:03.089Z,1758399843.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850055 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:03.124Z,1758399843.124 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994575
2025-09-20T20:24:03.376Z,1758399843.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246689
2025-09-20T20:24:03.520Z,1758399843.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:03.523Z,1758399843.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 64.275558 m,
bearing: 103.491645 deg,
approach rate: -0.566882 m/s,
LOS rate: 0.020912 deg/s,
cmd heading: 106.000322 deg,
new cmd heading: 106.018502 deg.
2025-09-20T20:24:03.524Z,1758399843.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850372 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:03.632Z,1758399843.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502713
2025-09-20T20:24:03.880Z,1758399843.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750762
2025-09-20T20:24:03.957Z,1758399843.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:03.966Z,1758399843.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 64.047531 m,
bearing: 103.500500 deg,
approach rate: -0.522530 m/s,
LOS rate: 0.020365 deg/s,
cmd heading: 106.018504 deg,
new cmd heading: 106.036278 deg.
2025-09-20T20:24:03.971Z,1758399843.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850682 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:04.132Z,1758399844.132 [DAT](INFO): DAT read: Rx Time:20:24:06.4401
2025-09-20T20:24:04.133Z,1758399844.133 [DAT](INFO): Rx dataTimestamp_ set to:1758399844.132232
2025-09-20T20:24:04.133Z,1758399844.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003786
2025-09-20T20:24:04.317Z,1758399844.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:04.324Z,1758399844.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 63.850029 m,
bearing: 103.508160 deg,
approach rate: -0.547972 m/s,
LOS rate: 0.021318 deg/s,
cmd heading: 106.036276 deg,
new cmd heading: 106.051643 deg.
2025-09-20T20:24:04.325Z,1758399844.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850950 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:04.387Z,1758399844.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257444
2025-09-20T20:24:04.639Z,1758399844.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509332
2025-09-20T20:24:04.805Z,1758399844.805 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:04.807Z,1758399844.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.11 m.
2025-09-20T20:24:04.810Z,1758399844.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 66.108498 m,
nav range: 63.559502 m,
bearing: 103.525161 deg,
approach rate: -0.593180 m/s,
LOS rate: 0.034871 deg/s,
cmd heading: 106.051644 deg,
new cmd heading: 106.085802 deg.
2025-09-20T20:24:04.811Z,1758399844.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.851547 target range: 66.108498 and range: 66.40 m.
2025-09-20T20:24:04.895Z,1758399844.895 [DAT](INFO): DAT read: 20:24:06.4401 LVL= 21152, 30417, 19522, 30803, AGC= 65, IDX= 413,-0.27,-0.048,-1.666, 0.238,-0.237, PHS= 0.291,-1.383, 0.432, RAW= 154.0, 7.6, CAL= 153.5, 8.0, ROT= 356.5, -8.0
2025-09-20T20:24:04.896Z,1758399844.896 [DAT](INFO): got valid direction response:
20:24:06.4401 LVL= 21152, 30417, 19522, 30803, AGC= 65, IDX= 413,-0.27,-0.048,-1.666, 0.238,-0.237, PHS= 0.291,-1.383, 0.432, RAW= 154.0, 7.6, CAL= 153.5, 8.0, ROT= 356.5, -8.0
2025-09-20T20:24:04.897Z,1758399844.897 [DAT](INFO): DAT read: Bearing 271.5, -4.7 (Local)
2025-09-20T20:24:04.897Z,1758399844.897 [DAT](INFO): Local bearing/azimuth received:
Bearing 271.5, -4.7 (Local)
2025-09-20T20:24:04.899Z,1758399844.899 [DAT](INFO): DAT read: Range 11 to 50 : 64.4 m (Round-trip 85.9 ms) speed 0.7 m/s
2025-09-20T20:24:04.899Z,1758399844.899 [DAT](INFO): DAT read: user:243>
2025-09-20T20:24:04.900Z,1758399844.900 [DAT](INFO): DAT read: Tx time:20:24:07.5500
2025-09-20T20:24:04.900Z,1758399844.900 [DAT](INFO): Ping request sent.
2025-09-20T20:24:04.901Z,1758399844.901 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:04.901Z,1758399844.901 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:04.902Z,1758399844.902 [DAT](INFO): direction in FSK: [0.988421,-0.060454,0.139173]
2025-09-20T20:24:04.902Z,1758399844.902 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:04.902Z,1758399844.902 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:04.913Z,1758399844.913 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:04.914Z,1758399844.914 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:05.165Z,1758399845.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 64.400002 m,
deltaT: 3.778270 s,
deltaX: -2.000000 m,
approachRate: -0.529343 m/s,
rangeRepo size: 4
2025-09-20T20:24:05.167Z,1758399845.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 64.121391 m,
bearing: 103.232418 deg,
lat: 36.779272 deg,
lon: -121.859548 deg,
deltaT: 3.778270 s,
deltaX: -1.987106 m,
approachRate: -0.525930 m/s,
posRepo size: 4
2025-09-20T20:24:05.168Z,1758399845.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:05.170Z,1758399845.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 63.550064 m,
bearing: 103.357977 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.034871 deg/s,
cmd heading: 106.085802 deg,
new cmd heading: 106.110741 deg.
2025-09-20T20:24:05.172Z,1758399845.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.851982 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:05.564Z,1758399845.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:05.567Z,1758399845.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 63.325706 m,
bearing: 103.370437 deg,
approach rate: -0.561158 m/s,
LOS rate: 0.031276 deg/s,
cmd heading: 106.110739 deg,
new cmd heading: 106.135748 deg.
2025-09-20T20:24:05.568Z,1758399845.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852418 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:06.011Z,1758399846.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:06.014Z,1758399846.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 63.058865 m,
bearing: 103.383403 deg,
approach rate: -0.597236 m/s,
LOS rate: 0.029142 deg/s,
cmd heading: 106.135751 deg,
new cmd heading: 106.161791 deg.
2025-09-20T20:24:06.015Z,1758399846.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852873 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:06.372Z,1758399846.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:06.375Z,1758399846.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 62.843250 m,
bearing: 103.393883 deg,
approach rate: -0.596658 m/s,
LOS rate: 0.029101 deg/s,
cmd heading: 106.161794 deg,
new cmd heading: 106.182826 deg.
2025-09-20T20:24:06.376Z,1758399846.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853240 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:06.818Z,1758399846.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:06.821Z,1758399846.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:06.824Z,1758399846.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 62.583881 m,
bearing: 103.412569 deg,
approach rate: -0.578651 m/s,
LOS rate: 0.041861 deg/s,
cmd heading: 106.182824 deg,
new cmd heading: 106.220351 deg.
2025-09-20T20:24:06.825Z,1758399846.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853895 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:06.904Z,1758399846.904 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:06.905Z,1758399846.905 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:06.905Z,1758399846.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:07.156Z,1758399847.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255353
2025-09-20T20:24:07.184Z,1758399847.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:07.187Z,1758399847.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 62.372044 m,
bearing: 103.427866 deg,
approach rate: -0.582413 m/s,
LOS rate: 0.042201 deg/s,
cmd heading: 106.220349 deg,
new cmd heading: 106.251048 deg.
2025-09-20T20:24:07.188Z,1758399847.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.854431 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:07.409Z,1758399847.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507887
2025-09-20T20:24:07.597Z,1758399847.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:07.600Z,1758399847.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 62.138596 m,
bearing: 103.444768 deg,
approach rate: -0.565589 m/s,
LOS rate: 0.041102 deg/s,
cmd heading: 106.251051 deg,
new cmd heading: 106.284981 deg.
2025-09-20T20:24:07.601Z,1758399847.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.855023 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:07.663Z,1758399847.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761848
2025-09-20T20:24:07.912Z,1758399847.912 [DAT](INFO): DAT read: Rx Time:20:24:10.0374
2025-09-20T20:24:07.913Z,1758399847.913 [DAT](INFO): Rx dataTimestamp_ set to:1758399847.912222
2025-09-20T20:24:07.913Z,1758399847.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012500
2025-09-20T20:24:08.074Z,1758399848.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:08.077Z,1758399848.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 61.845863 m,
bearing: 103.461672 deg,
approach rate: -0.613779 m/s,
LOS rate: 0.035612 deg/s,
cmd heading: 106.284983 deg,
new cmd heading: 106.318952 deg.
2025-09-20T20:24:08.078Z,1758399848.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.855616 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:08.165Z,1758399848.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263934
2025-09-20T20:24:08.411Z,1758399848.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.12 m.
2025-09-20T20:24:08.414Z,1758399848.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 64.121391 m,
nav range: 61.643440 m,
bearing: 103.473455 deg,
approach rate: -0.601078 m/s,
LOS rate: 0.035105 deg/s,
cmd heading: 106.318950 deg,
new cmd heading: 106.342594 deg.
2025-09-20T20:24:08.414Z,1758399848.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.856028 target range: 64.121391 and range: 64.40 m.
2025-09-20T20:24:08.422Z,1758399848.422 [DAT](INFO): DAT read: 20:24:10.0374 LVL= 21488, 25537, 18962, 29251, AGC= 65, IDX= 416, 0.35,-2.907, 1.773,-2.610,-3.082, PHS= 0.278,-1.383, 0.428, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2
2025-09-20T20:24:08.425Z,1758399848.425 [DAT](INFO): got valid direction response:
20:24:10.0374 LVL= 21488, 25537, 18962, 29251, AGC= 65, IDX= 416, 0.35,-2.907, 1.773,-2.610,-3.082, PHS= 0.278,-1.383, 0.428, RAW= 154.3, 7.8, CAL= 153.8, 8.2, ROT= 356.2, -8.2
2025-09-20T20:24:08.426Z,1758399848.426 [DAT](INFO): DAT read: Bearing 272.0, -5.9 (Local)
2025-09-20T20:24:08.428Z,1758399848.428 [DAT](INFO): Local bearing/azimuth received:
Bearing 272.0, -5.9 (Local)
2025-09-20T20:24:08.431Z,1758399848.431 [DAT](INFO): DAT read: Range 11 to 50 : 62.4 m (Round-trip 83.2 ms) speed 0.5 m/s
2025-09-20T20:24:08.452Z,1758399848.452 [DAT](INFO): DAT read: user:244>
2025-09-20T20:24:08.453Z,1758399848.453 [DAT](INFO): DAT read: Tx time:20:24:11.1500
2025-09-20T20:24:08.454Z,1758399848.454 [DAT](INFO): Ping request sent.
2025-09-20T20:24:08.454Z,1758399848.454 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:08.459Z,1758399848.459 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:08.460Z,1758399848.460 [DAT](INFO): direction in FSK: [0.987600,-0.065596,0.142629]
2025-09-20T20:24:08.460Z,1758399848.460 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:08.460Z,1758399848.460 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:08.476Z,1758399848.476 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:08.476Z,1758399848.476 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:08.884Z,1758399848.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 62.400002 m,
deltaT: 3.527323 s,
deltaX: -2.000000 m,
approachRate: -0.567002 m/s,
rangeRepo size: 4
2025-09-20T20:24:08.886Z,1758399848.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 62.130379 m,
bearing: 103.107302 deg,
lat: 36.779272 deg,
lon: -121.859548 deg,
deltaT: 3.527323 s,
deltaX: -1.991013 m,
approachRate: -0.564454 m/s,
posRepo size: 4
2025-09-20T20:24:08.887Z,1758399848.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:08.893Z,1758399848.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 61.403679 m,
bearing: 103.485910 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.035105 deg/s,
cmd heading: 106.342596 deg,
new cmd heading: 106.375750 deg.
2025-09-20T20:24:08.894Z,1758399848.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.856607 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:09.302Z,1758399849.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:09.304Z,1758399849.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:09.307Z,1758399849.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 61.157028 m,
bearing: 103.503750 deg,
approach rate: -0.585745 m/s,
LOS rate: 0.042537 deg/s,
cmd heading: 106.375750 deg,
new cmd heading: 106.411574 deg.
2025-09-20T20:24:09.308Z,1758399849.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857232 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:09.425Z,1758399849.425 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:09.426Z,1758399849.426 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:09.426Z,1758399849.426 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:09.647Z,1758399849.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:09.650Z,1758399849.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 60.932373 m,
bearing: 103.519969 deg,
approach rate: -0.655401 m/s,
LOS rate: 0.047491 deg/s,
cmd heading: 106.411574 deg,
new cmd heading: 106.444132 deg.
2025-09-20T20:24:09.651Z,1758399849.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857801 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:09.676Z,1758399849.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.222037
2025-09-20T20:24:09.929Z,1758399849.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.474834
2025-09-20T20:24:10.071Z,1758399850.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:10.074Z,1758399850.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 60.684925 m,
bearing: 103.538420 deg,
approach rate: -0.583340 m/s,
LOS rate: 0.043674 deg/s,
cmd heading: 106.444134 deg,
new cmd heading: 106.481186 deg.
2025-09-20T20:24:10.075Z,1758399850.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.858447 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:10.180Z,1758399850.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.726217
2025-09-20T20:24:10.433Z,1758399850.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.979016
2025-09-20T20:24:10.470Z,1758399850.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:10.473Z,1758399850.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 60.452011 m,
bearing: 103.555673 deg,
approach rate: -0.583326 m/s,
LOS rate: 0.043375 deg/s,
cmd heading: 106.481188 deg,
new cmd heading: 106.515825 deg.
2025-09-20T20:24:10.474Z,1758399850.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859052 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:10.689Z,1758399850.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234287
2025-09-20T20:24:10.885Z,1758399850.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:10.888Z,1758399850.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 60.211140 m,
bearing: 103.572395 deg,
approach rate: -0.581300 m/s,
LOS rate: 0.040519 deg/s,
cmd heading: 106.515823 deg,
new cmd heading: 106.549403 deg.
2025-09-20T20:24:10.888Z,1758399850.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859638 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:10.938Z,1758399850.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.483222
2025-09-20T20:24:11.188Z,1758399851.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733997
2025-09-20T20:24:11.261Z,1758399851.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:11.263Z,1758399851.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 59.992645 m,
bearing: 103.587440 deg,
approach rate: -0.581370 m/s,
LOS rate: 0.040176 deg/s,
cmd heading: 106.549401 deg,
new cmd heading: 106.579599 deg.
2025-09-20T20:24:11.264Z,1758399851.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860165 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:11.444Z,1758399851.444 [DAT](INFO): DAT read: Rx Time:20:24:13.6346
2025-09-20T20:24:11.445Z,1758399851.445 [DAT](INFO): Rx dataTimestamp_ set to:1758399851.444210
2025-09-20T20:24:11.445Z,1758399851.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991271
2025-09-20T20:24:11.661Z,1758399851.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:11.664Z,1758399851.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 62.13 m.
2025-09-20T20:24:11.666Z,1758399851.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 62.130379 m,
nav range: 59.758717 m,
bearing: 103.603415 deg,
approach rate: -0.580293 m/s,
LOS rate: 0.039784 deg/s,
cmd heading: 106.579597 deg,
new cmd heading: 106.611672 deg.
2025-09-20T20:24:11.683Z,1758399851.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860725 target range: 62.130379 and range: 62.40 m.
2025-09-20T20:24:11.692Z,1758399851.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.238272
2025-09-20T20:24:11.952Z,1758399851.952 [DAT](INFO): DAT read: 20:24:13.6346 LVL= 24784, 28753, 20690, 30755, AGC= 65, IDX= 420,-0.02, 1.082,-0.488, 1.412, 0.956, PHS= 0.227,-1.399, 0.411, RAW= 155.3, 8.9, CAL= 155.0, 9.4, ROT= 355.0, -9.4
2025-09-20T20:24:11.953Z,1758399851.953 [DAT](INFO): got valid direction response:
20:24:13.6346 LVL= 24784, 28753, 20690, 30755, AGC= 65, IDX= 420,-0.02, 1.082,-0.488, 1.412, 0.956, PHS= 0.227,-1.399, 0.411, RAW= 155.3, 8.9, CAL= 155.0, 9.4, ROT= 355.0, -9.4
2025-09-20T20:24:11.954Z,1758399851.954 [DAT](INFO): DAT read: Bearing 273.4, -7.7 (Local)
2025-09-20T20:24:11.954Z,1758399851.954 [DAT](INFO): Local bearing/azimuth received:
Bearing 273.4, -7.7 (Local)
2025-09-20T20:24:11.955Z,1758399851.955 [DAT](INFO): DAT read: Range 11 to 50 : 60.3 m (Round-trip 80.4 ms) speed 0.5 m/s
2025-09-20T20:24:11.956Z,1758399851.956 [DAT](INFO): DAT read: user:245>
2025-09-20T20:24:11.957Z,1758399851.957 [DAT](INFO): DAT read: Tx time:20:24:14.7500
2025-09-20T20:24:11.957Z,1758399851.957 [DAT](INFO): Ping request sent.
2025-09-20T20:24:11.957Z,1758399851.957 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:11.958Z,1758399851.958 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:11.958Z,1758399851.958 [DAT](INFO): direction in FSK: [0.982818,-0.085985,0.163326]
2025-09-20T20:24:11.974Z,1758399851.974 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:11.975Z,1758399851.975 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:12.019Z,1758399852.019 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:12.020Z,1758399852.020 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:12.184Z,1758399852.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 60.299999 m,
deltaT: 3.528405 s,
deltaX: -2.100002 m,
approachRate: -0.595170 m/s,
rangeRepo size: 4
2025-09-20T20:24:12.186Z,1758399852.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 60.039490 m,
bearing: 102.449551 deg,
lat: 36.779273 deg,
lon: -121.859547 deg,
deltaT: 3.528405 s,
deltaX: -2.090889 m,
approachRate: -0.592588 m/s,
posRepo size: 4
2025-09-20T20:24:12.187Z,1758399852.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:12.200Z,1758399852.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 59.527050 m,
bearing: 103.493020 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.039784 deg/s,
cmd heading: 106.611671 deg,
new cmd heading: 106.652684 deg.
2025-09-20T20:24:12.201Z,1758399852.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.861441 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:12.548Z,1758399852.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:12.551Z,1758399852.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 59.313469 m,
bearing: 103.504518 deg,
approach rate: -0.607418 m/s,
LOS rate: 0.032820 deg/s,
cmd heading: 106.652687 deg,
new cmd heading: 106.675767 deg.
2025-09-20T20:24:12.556Z,1758399852.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.861843 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:12.988Z,1758399852.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:12.991Z,1758399852.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 59.052406 m,
bearing: 103.513888 deg,
approach rate: -0.570827 m/s,
LOS rate: 0.020578 deg/s,
cmd heading: 106.675766 deg,
new cmd heading: 106.694588 deg.
2025-09-20T20:24:12.996Z,1758399852.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862172 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:13.343Z,1758399853.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:13.346Z,1758399853.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 58.831974 m,
bearing: 103.521686 deg,
approach rate: -0.620929 m/s,
LOS rate: 0.022049 deg/s,
cmd heading: 106.694590 deg,
new cmd heading: 106.710245 deg.
2025-09-20T20:24:13.347Z,1758399853.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862445 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:13.823Z,1758399853.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:13.825Z,1758399853.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:13.828Z,1758399853.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 58.563850 m,
bearing: 103.531251 deg,
approach rate: -0.555823 m/s,
LOS rate: 0.019919 deg/s,
cmd heading: 106.710245 deg,
new cmd heading: 106.729462 deg.
2025-09-20T20:24:13.829Z,1758399853.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862781 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:13.960Z,1758399853.960 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:13.960Z,1758399853.960 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:13.960Z,1758399853.960 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:14.173Z,1758399854.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:14.176Z,1758399854.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 58.347187 m,
bearing: 103.540554 deg,
approach rate: -0.622753 m/s,
LOS rate: 0.026838 deg/s,
cmd heading: 106.729465 deg,
new cmd heading: 106.748139 deg.
2025-09-20T20:24:14.177Z,1758399854.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863106 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:14.213Z,1758399854.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255426
2025-09-20T20:24:14.464Z,1758399854.464 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506726
2025-09-20T20:24:14.559Z,1758399854.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:14.562Z,1758399854.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 58.126148 m,
bearing: 103.549935 deg,
approach rate: -0.573329 m/s,
LOS rate: 0.024426 deg/s,
cmd heading: 106.748139 deg,
new cmd heading: 106.766973 deg.
2025-09-20T20:24:14.563Z,1758399854.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863435 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:14.716Z,1758399854.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758730
2025-09-20T20:24:14.976Z,1758399854.976 [DAT](INFO): DAT read: Rx Time:20:24:17.2318
2025-09-20T20:24:14.977Z,1758399854.977 [DAT](INFO): Rx dataTimestamp_ set to:1758399854.976224
2025-09-20T20:24:14.977Z,1758399854.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019788
2025-09-20T20:24:15.031Z,1758399855.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:15.034Z,1758399855.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 57.863148 m,
bearing: 103.561261 deg,
approach rate: -0.576739 m/s,
LOS rate: 0.024950 deg/s,
cmd heading: 106.766969 deg,
new cmd heading: 106.789724 deg.
2025-09-20T20:24:15.034Z,1758399855.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863832 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:15.228Z,1758399855.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270946
2025-09-20T20:24:15.384Z,1758399855.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.04 m.
2025-09-20T20:24:15.387Z,1758399855.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 60.039490 m,
nav range: 57.650013 m,
bearing: 103.570387 deg,
approach rate: -0.577324 m/s,
LOS rate: 0.024811 deg/s,
cmd heading: 106.789728 deg,
new cmd heading: 106.808047 deg.
2025-09-20T20:24:15.388Z,1758399855.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864152 target range: 60.039490 and range: 60.30 m.
2025-09-20T20:24:15.502Z,1758399855.502 [DAT](INFO): DAT read: 20:24:17.2318 LVL= 21456, 31649, 17394, 31299, AGC= 65, IDX= 407, 0.13, 2.927, 1.381,-2.988, 2.833, PHS= 0.196,-1.407, 0.418, RAW= 156.4, 9.2, CAL= 156.1, 9.9, ROT= 353.9, -9.9
2025-09-20T20:24:15.528Z,1758399855.528 [DAT](INFO): got valid direction response:
20:24:17.2318 LVL= 21456, 31649, 17394, 31299, AGC= 65, IDX= 407, 0.13, 2.927, 1.381,-2.988, 2.833, PHS= 0.196,-1.407, 0.418, RAW= 156.4, 9.2, CAL= 156.1, 9.9, ROT= 353.9, -9.9
2025-09-20T20:24:15.529Z,1758399855.529 [DAT](INFO): DAT read: Bearing 274.4, -9.5 (Local)
2025-09-20T20:24:15.529Z,1758399855.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 274.4, -9.5 (Local)
2025-09-20T20:24:15.530Z,1758399855.530 [DAT](INFO): DAT read: Range 11 to 50 : 58.2 m (Round-trip 77.6 ms) speed 0.4 m/s
2025-09-20T20:24:15.535Z,1758399855.535 [DAT](INFO): DAT read: user:246>
2025-09-20T20:24:15.536Z,1758399855.536 [DAT](INFO): DAT read: Tx time:20:24:18.3500
2025-09-20T20:24:15.536Z,1758399855.536 [DAT](INFO): Ping request sent.
2025-09-20T20:24:15.536Z,1758399855.536 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:15.537Z,1758399855.537 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:15.538Z,1758399855.538 [DAT](INFO): direction in FSK: [0.979532,-0.104682,0.171929]
2025-09-20T20:24:15.538Z,1758399855.538 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:15.538Z,1758399855.538 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:15.550Z,1758399855.550 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:15.550Z,1758399855.550 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:15.944Z,1758399855.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 58.200001 m,
deltaT: 3.537198 s,
deltaX: -2.099998 m,
approachRate: -0.593690 m/s,
rangeRepo size: 4
2025-09-20T20:24:15.946Z,1758399855.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 57.948460 m,
bearing: 101.781257 deg,
lat: 36.779274 deg,
lon: -121.859543 deg,
deltaT: 3.537198 s,
deltaX: -2.091030 m,
approachRate: -0.591154 m/s,
posRepo size: 4
2025-09-20T20:24:15.946Z,1758399855.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:15.951Z,1758399855.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:15.954Z,1758399855.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 57.595356 m,
bearing: 103.307412 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.024811 deg/s,
cmd heading: 106.808046 deg,
new cmd heading: 106.835570 deg.
2025-09-20T20:24:15.955Z,1758399855.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864632 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:15.994Z,1758399855.994 [DockingStepper](INFO): Changing to mode: 2
2025-09-20T20:24:16.332Z,1758399856.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:16.334Z,1758399856.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:16.334Z,1758399856.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:16.337Z,1758399856.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 57.353329 m,
bearing: 103.312535 deg,
approach rate: -0.612366 m/s,
LOS rate: 0.013015 deg/s,
cmd heading: 106.835572 deg,
new cmd heading: 106.845860 deg.
2025-09-20T20:24:16.338Z,1758399856.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864812 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:16.488Z,1758399856.488 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:16.488Z,1758399856.488 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:16.488Z,1758399856.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:16.740Z,1758399856.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.203812
2025-09-20T20:24:16.744Z,1758399856.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:16.744Z,1758399856.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:16.752Z,1758399856.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 57.128189 m,
bearing: 103.317412 deg,
approach rate: -0.549331 m/s,
LOS rate: 0.011948 deg/s,
cmd heading: 106.845858 deg,
new cmd heading: 106.855651 deg.
2025-09-20T20:24:16.753Z,1758399856.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864983 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:16.992Z,1758399856.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.455423
2025-09-20T20:24:17.162Z,1758399857.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:17.163Z,1758399857.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:17.166Z,1758399857.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 56.880363 m,
bearing: 103.325033 deg,
approach rate: -0.592190 m/s,
LOS rate: 0.018289 deg/s,
cmd heading: 106.855653 deg,
new cmd heading: 106.870960 deg.
2025-09-20T20:24:17.183Z,1758399857.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865250 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:17.245Z,1758399857.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.707899
2025-09-20T20:24:17.496Z,1758399857.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.959425
2025-09-20T20:24:17.568Z,1758399857.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:17.569Z,1758399857.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:17.576Z,1758399857.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 56.657539 m,
bearing: 103.331891 deg,
approach rate: -0.548770 m/s,
LOS rate: 0.016956 deg/s,
cmd heading: 106.870959 deg,
new cmd heading: 106.884729 deg.
2025-09-20T20:24:17.577Z,1758399857.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865490 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:17.748Z,1758399857.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.211579
2025-09-20T20:24:17.986Z,1758399857.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:17.986Z,1758399857.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:17.989Z,1758399857.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 56.416161 m,
bearing: 103.339901 deg,
approach rate: -0.578142 m/s,
LOS rate: 0.019267 deg/s,
cmd heading: 106.884729 deg,
new cmd heading: 106.900817 deg.
2025-09-20T20:24:17.990Z,1758399857.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865771 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:17.000Z,1758399858.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.463309
2025-09-20T20:24:18.256Z,1758399858.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719218
2025-09-20T20:24:18.349Z,1758399858.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:18.351Z,1758399858.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:18.352Z,1758399858.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:18.354Z,1758399858.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 56.214226 m,
bearing: 103.346549 deg,
approach rate: -0.552875 m/s,
LOS rate: 0.018266 deg/s,
cmd heading: 106.900814 deg,
new cmd heading: 106.914157 deg.
2025-09-20T20:24:18.356Z,1758399858.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866004 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:18.506Z,1758399858.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969013
2025-09-20T20:24:18.757Z,1758399858.757 [DAT](INFO): DAT read: Rx Time:20:24:20.8291
2025-09-20T20:24:18.757Z,1758399858.757 [DAT](INFO): Rx dataTimestamp_ set to:1758399858.756967
2025-09-20T20:24:18.758Z,1758399858.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.221606
2025-09-20T20:24:18.766Z,1758399858.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:18.766Z,1758399858.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:18.771Z,1758399858.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 55.989090 m,
bearing: 103.353888 deg,
approach rate: -0.543679 m/s,
LOS rate: 0.017796 deg/s,
cmd heading: 106.914160 deg,
new cmd heading: 106.928898 deg.
2025-09-20T20:24:18.773Z,1758399858.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866261 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:19.008Z,1758399859.008 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.471738
2025-09-20T20:24:19.206Z,1758399859.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:19.206Z,1758399859.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:19.209Z,1758399859.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 55.742592 m,
bearing: 103.356406 deg,
approach rate: -0.559319 m/s,
LOS rate: 0.005738 deg/s,
cmd heading: 106.928900 deg,
new cmd heading: 106.933957 deg.
2025-09-20T20:24:19.210Z,1758399859.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866350 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:19.266Z,1758399859.266 [DAT](INFO): DAT read: 20:24:20.8291 LVL= 19232, 30849, 21090, 29075, AGC= 62, IDX= 412, 0.31, 0.663,-0.839, 1.207, 0.614, PHS= 0.152,-1.40, RAW= 161.1, 7.9, CAL= 160.7, 8.1, ROT= 349.3, -8.1
2025-09-20T20:24:19.267Z,1758399859.267 [DAT](INFO): unknown deviceResponse_: 20:24:20.8291 LVL= 19232, 30849, 21090, 29075, AGC= 62, IDX= 412, 0.31, 0.663,-0.839, 1.207, 0.614, PHS= 0.152,-1.40, RAW= 161.1, 7.9, CAL= 160.7, 8.1, ROT= 349.3, -8.1
2025-09-20T20:24:19.268Z,1758399859.268 [DAT](INFO): DAT read: $Error in header
2025-09-20T20:24:19.268Z,1758399859.268 [DAT](INFO): Received a bad header
2025-09-20T20:24:19.280Z,1758399859.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.743019
2025-09-20T20:24:19.512Z,1758399859.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.975852
2025-09-20T20:24:19.596Z,1758399859.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:19.596Z,1758399859.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:19.611Z,1758399859.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 55.507805 m,
bearing: 103.358698 deg,
approach rate: -0.603738 m/s,
LOS rate: 0.005918 deg/s,
cmd heading: 106.933954 deg,
new cmd heading: 106.938557 deg.
2025-09-20T20:24:19.612Z,1758399859.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866430 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:19.765Z,1758399859.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.228005
2025-09-20T20:24:20.004Z,1758399860.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:20.004Z,1758399860.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:20.007Z,1758399860.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 55.274647 m,
bearing: 103.369425 deg,
approach rate: -0.570846 m/s,
LOS rate: 0.026376 deg/s,
cmd heading: 106.938557 deg,
new cmd heading: 106.960104 deg.
2025-09-20T20:24:20.008Z,1758399860.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866806 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:20.016Z,1758399860.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.479602
2025-09-20T20:24:20.269Z,1758399860.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.732940
2025-09-20T20:24:20.389Z,1758399860.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:20.392Z,1758399860.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:20.392Z,1758399860.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:20.397Z,1758399860.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 55.053543 m,
bearing: 103.379499 deg,
approach rate: -0.569425 m/s,
LOS rate: 0.026048 deg/s,
cmd heading: 106.960107 deg,
new cmd heading: 106.980335 deg.
2025-09-20T20:24:20.399Z,1758399860.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867159 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:20.520Z,1758399860.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.983871
2025-09-20T20:24:20.773Z,1758399860.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.236130
2025-09-20T20:24:20.825Z,1758399860.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:20.825Z,1758399860.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:20.888Z,1758399860.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 54.808758 m,
bearing: 103.390528 deg,
approach rate: -0.564737 m/s,
LOS rate: 0.025558 deg/s,
cmd heading: 106.980338 deg,
new cmd heading: 107.002494 deg.
2025-09-20T20:24:20.897Z,1758399860.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867546 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:21.024Z,1758399861.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.487374
2025-09-20T20:24:21.276Z,1758399861.276 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.739453
2025-09-20T20:24:21.279Z,1758399861.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:21.283Z,1758399861.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:21.286Z,1758399861.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 54.555614 m,
bearing: 103.396602 deg,
approach rate: -0.558226 m/s,
LOS rate: 0.013455 deg/s,
cmd heading: 107.002495 deg,
new cmd heading: 107.014698 deg.
2025-09-20T20:24:21.295Z,1758399861.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867759 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:21.528Z,1758399861.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.991824
2025-09-20T20:24:21.646Z,1758399861.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:21.646Z,1758399861.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:21.649Z,1758399861.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 54.329628 m,
bearing: 103.401803 deg,
approach rate: -0.614852 m/s,
LOS rate: 0.014210 deg/s,
cmd heading: 107.014700 deg,
new cmd heading: 107.025146 deg.
2025-09-20T20:24:21.650Z,1758399861.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867941 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:21.781Z,1758399861.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.243890
2025-09-20T20:24:22.032Z,1758399862.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.495445
2025-09-20T20:24:22.099Z,1758399862.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:22.099Z,1758399862.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.20 m.
2025-09-20T20:24:22.100Z,1758399862.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 58.20 m.
2025-09-20T20:24:22.100Z,1758399862.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-09-20T20:24:22.103Z,1758399862.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 54.064091 m,
bearing: 103.409182 deg,
approach rate: -0.586780 m/s,
LOS rate: 0.016385 deg/s,
cmd heading: 107.025144 deg,
new cmd heading: 107.039973 deg.
2025-09-20T20:24:22.104Z,1758399862.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868200 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:22.135Z,1758399862.135 [HorizontalControl](DEBUG): kpHeading = 0.700000
2025-09-20T20:24:22.139Z,1758399862.139 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-09-20T20:24:22.284Z,1758399862.284 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.747482
2025-09-20T20:24:22.470Z,1758399862.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:22.473Z,1758399862.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:22.528Z,1758399862.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 53.844662 m,
bearing: 103.415334 deg,
approach rate: -0.586784 m/s,
LOS rate: 0.016519 deg/s,
cmd heading: 107.039972 deg,
new cmd heading: 107.052327 deg.
2025-09-20T20:24:22.529Z,1758399862.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868416 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:22.536Z,1758399862.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.999461
2025-09-20T20:24:22.790Z,1758399862.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.253271
2025-09-20T20:24:22.941Z,1758399862.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:22.944Z,1758399862.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 53.569214 m,
bearing: 103.423128 deg,
approach rate: -0.587399 m/s,
LOS rate: 0.016707 deg/s,
cmd heading: 107.052328 deg,
new cmd heading: 107.067996 deg.
2025-09-20T20:24:22.945Z,1758399862.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868689 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:23.040Z,1758399863.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.503548
2025-09-20T20:24:23.292Z,1758399863.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.755635
2025-09-20T20:24:23.318Z,1758399863.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:23.321Z,1758399863.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 53.364094 m,
bearing: 103.428788 deg,
approach rate: -0.544260 m/s,
LOS rate: 0.015076 deg/s,
cmd heading: 107.067996 deg,
new cmd heading: 107.079360 deg.
2025-09-20T20:24:23.322Z,1758399863.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868887 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:23.544Z,1758399863.544 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.007475
2025-09-20T20:24:23.769Z,1758399863.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:23.789Z,1758399863.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 53.106895 m,
bearing: 103.433486 deg,
approach rate: -0.571655 m/s,
LOS rate: 0.010492 deg/s,
cmd heading: 107.079362 deg,
new cmd heading: 107.088803 deg.
2025-09-20T20:24:23.790Z,1758399863.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869052 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:23.796Z,1758399863.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.259726
2025-09-20T20:24:24.048Z,1758399864.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.511440
2025-09-20T20:24:24.212Z,1758399864.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:24.215Z,1758399864.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 52.858295 m,
bearing: 103.441965 deg,
approach rate: -0.560357 m/s,
LOS rate: 0.019202 deg/s,
cmd heading: 107.088801 deg,
new cmd heading: 107.105839 deg.
2025-09-20T20:24:24.216Z,1758399864.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869349 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:24.300Z,1758399864.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.763919
2025-09-20T20:24:24.553Z,1758399864.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.015964
2025-09-20T20:24:24.574Z,1758399864.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:24.576Z,1758399864.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:24.579Z,1758399864.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 52.656231 m,
bearing: 103.448397 deg,
approach rate: -0.554522 m/s,
LOS rate: 0.017720 deg/s,
cmd heading: 107.105836 deg,
new cmd heading: 107.118750 deg.
2025-09-20T20:24:24.580Z,1758399864.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869575 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:24.804Z,1758399864.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.267555
2025-09-20T20:24:25.014Z,1758399865.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:25.017Z,1758399865.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 52.417927 m,
bearing: 103.451504 deg,
approach rate: -0.544796 m/s,
LOS rate: 0.007134 deg/s,
cmd heading: 107.118752 deg,
new cmd heading: 107.124993 deg.
2025-09-20T20:24:25.018Z,1758399865.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869684 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:25.057Z,1758399865.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.519925
2025-09-20T20:24:25.308Z,1758399865.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.771624
2025-09-20T20:24:25.371Z,1758399865.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:25.374Z,1758399865.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 52.223480 m,
bearing: 103.453763 deg,
approach rate: -0.544412 m/s,
LOS rate: 0.006350 deg/s,
cmd heading: 107.124994 deg,
new cmd heading: 107.129530 deg.
2025-09-20T20:24:25.375Z,1758399865.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869763 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:25.560Z,1758399865.560 [DAT](INFO): Reached modem response timeout
2025-09-20T20:24:25.560Z,1758399865.560 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:25.560Z,1758399865.560 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:25.800Z,1758399865.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:25.808Z,1758399865.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 51.999012 m,
bearing: 103.456052 deg,
approach rate: -0.522508 m/s,
LOS rate: 0.005351 deg/s,
cmd heading: 107.129530 deg,
new cmd heading: 107.134127 deg.
2025-09-20T20:24:25.809Z,1758399865.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869843 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:25.812Z,1758399865.812 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:26.064Z,1758399866.064 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:26.205Z,1758399866.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:26.225Z,1758399866.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 51.772011 m,
bearing: 103.464920 deg,
approach rate: -0.560630 m/s,
LOS rate: 0.021998 deg/s,
cmd heading: 107.134126 deg,
new cmd heading: 107.151940 deg.
2025-09-20T20:24:26.226Z,1758399866.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870154 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:26.317Z,1758399866.317 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:26.568Z,1758399866.568 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:26.584Z,1758399866.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:26.586Z,1758399866.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:26.589Z,1758399866.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 51.567539 m,
bearing: 103.472619 deg,
approach rate: -0.537376 m/s,
LOS rate: 0.020312 deg/s,
cmd heading: 107.151939 deg,
new cmd heading: 107.167397 deg.
2025-09-20T20:24:26.590Z,1758399866.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870424 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:26.820Z,1758399866.820 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:27.041Z,1758399867.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:27.044Z,1758399867.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 51.320026 m,
bearing: 103.477141 deg,
approach rate: -0.543308 m/s,
LOS rate: 0.009975 deg/s,
cmd heading: 107.167396 deg,
new cmd heading: 107.176484 deg.
2025-09-20T20:24:27.045Z,1758399867.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870583 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:27.075Z,1758399867.075 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:27.325Z,1758399867.325 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:27.420Z,1758399867.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:27.422Z,1758399867.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 51.114960 m,
bearing: 103.480549 deg,
approach rate: -0.541931 m/s,
LOS rate: 0.009044 deg/s,
cmd heading: 107.176487 deg,
new cmd heading: 107.183331 deg.
2025-09-20T20:24:27.424Z,1758399867.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870702 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:27.576Z,1758399867.576 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:27.804Z,1758399867.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:27.807Z,1758399867.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 50.905903 m,
bearing: 103.483614 deg,
approach rate: -0.544031 m/s,
LOS rate: 0.008007 deg/s,
cmd heading: 107.183331 deg,
new cmd heading: 107.189485 deg.
2025-09-20T20:24:27.808Z,1758399867.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870809 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:27.828Z,1758399867.828 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:24:28.081Z,1758399868.081 [DAT](INFO): DAT read: Response Not Received
2025-09-20T20:24:28.081Z,1758399868.081 [DAT](INFO): response not received
2025-09-20T20:24:28.082Z,1758399868.082 [DAT](INFO): DAT read: user:248>
2025-09-20T20:24:28.083Z,1758399868.083 [DAT](INFO): DAT read: Tx time:20:24:30.8000
2025-09-20T20:24:28.083Z,1758399868.083 [DAT](INFO): Ping request sent.
2025-09-20T20:24:28.084Z,1758399868.084 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:28.084Z,1758399868.084 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:28.085Z,1758399868.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001228
2025-09-20T20:24:28.228Z,1758399868.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:28.231Z,1758399868.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 50.668072 m,
bearing: 103.486141 deg,
approach rate: -0.560806 m/s,
LOS rate: 0.005986 deg/s,
cmd heading: 107.189485 deg,
new cmd heading: 107.194562 deg.
2025-09-20T20:24:28.232Z,1758399868.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870898 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:28.332Z,1758399868.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248594
2025-09-20T20:24:28.584Z,1758399868.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500464
2025-09-20T20:24:28.613Z,1758399868.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:28.615Z,1758399868.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:28.618Z,1758399868.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 50.451271 m,
bearing: 103.487934 deg,
approach rate: -0.560269 m/s,
LOS rate: 0.004654 deg/s,
cmd heading: 107.194560 deg,
new cmd heading: 107.198161 deg.
2025-09-20T20:24:28.619Z,1758399868.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870961 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:28.627Z,1758399868.627 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:24:28.837Z,1758399868.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753079
2025-09-20T20:24:29.071Z,1758399869.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:29.078Z,1758399869.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 50.206963 m,
bearing: 103.491326 deg,
approach rate: -0.536416 m/s,
LOS rate: 0.007484 deg/s,
cmd heading: 107.198159 deg,
new cmd heading: 107.204976 deg.
2025-09-20T20:24:29.080Z,1758399869.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871080 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:29.088Z,1758399869.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004597
2025-09-20T20:24:29.341Z,1758399869.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257059
2025-09-20T20:24:29.434Z,1758399869.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:29.437Z,1758399869.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 50.012077 m,
bearing: 103.493757 deg,
approach rate: -0.535804 m/s,
LOS rate: 0.006712 deg/s,
cmd heading: 107.204976 deg,
new cmd heading: 107.209858 deg.
2025-09-20T20:24:29.438Z,1758399869.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871165 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:29.592Z,1758399869.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508472
2025-09-20T20:24:29.638Z,1758399869.638 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:24:29.820Z,1758399869.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:29.822Z,1758399869.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 49.805744 m,
bearing: 103.495979 deg,
approach rate: -0.536021 m/s,
LOS rate: 0.005795 deg/s,
cmd heading: 107.209859 deg,
new cmd heading: 107.214321 deg.
2025-09-20T20:24:29.823Z,1758399869.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871243 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:29.844Z,1758399869.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760519
2025-09-20T20:24:30.096Z,1758399870.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012483
2025-09-20T20:24:30.244Z,1758399870.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:30.246Z,1758399870.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 49.572456 m,
bearing: 103.495231 deg,
approach rate: -0.550193 m/s,
LOS rate: -0.001773 deg/s,
cmd heading: 107.214320 deg,
new cmd heading: 107.212816 deg.
2025-09-20T20:24:30.247Z,1758399870.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871217 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:30.348Z,1758399870.348 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264524
2025-09-20T20:24:30.600Z,1758399870.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516615
2025-09-20T20:24:30.624Z,1758399870.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:30.626Z,1758399870.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:30.629Z,1758399870.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 49.361977 m,
bearing: 103.494160 deg,
approach rate: -0.549670 m/s,
LOS rate: -0.002807 deg/s,
cmd heading: 107.212817 deg,
new cmd heading: 107.210667 deg.
2025-09-20T20:24:30.630Z,1758399870.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871179 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:30.853Z,1758399870.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769271
2025-09-20T20:24:31.095Z,1758399871.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:31.098Z,1758399871.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 49.099495 m,
bearing: 103.490214 deg,
approach rate: -0.559862 m/s,
LOS rate: -0.008463 deg/s,
cmd heading: 107.210665 deg,
new cmd heading: 107.202730 deg.
2025-09-20T20:24:31.099Z,1758399871.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.871041 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:31.104Z,1758399871.104 [DAT](INFO): DAT read: Rx Time:20:24:33.2698
2025-09-20T20:24:31.105Z,1758399871.105 [DAT](INFO): Rx dataTimestamp_ set to:1758399871.104285
2025-09-20T20:24:31.105Z,1758399871.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021631
2025-09-20T20:24:31.358Z,1758399871.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273748
2025-09-20T20:24:31.467Z,1758399871.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.95 m.
2025-09-20T20:24:31.470Z,1758399871.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 57.948460 m,
nav range: 48.891254 m,
bearing: 103.486640 deg,
approach rate: -0.559455 m/s,
LOS rate: -0.009642 deg/s,
cmd heading: 107.202729 deg,
new cmd heading: 107.195551 deg.
2025-09-20T20:24:31.471Z,1758399871.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870915 target range: 57.948460 and range: 58.20 m.
2025-09-20T20:24:31.616Z,1758399871.616 [DAT](INFO): DAT read: 20:24:33.2698 LVL= 22928, 26577, 17714, 27891, AGC= 64, IDX= 349,-0.01,-1.226,-2.679,-0.645,-1.204, PHS= 0.080,-1.430, 0.515, RAW= 162.3, 9.5, CAL= 162.1, 10.1, ROT= 347.9, -10.1
2025-09-20T20:24:31.617Z,1758399871.617 [DAT](INFO): got valid direction response:
20:24:33.2698 LVL= 22928, 26577, 17714, 27891, AGC= 64, IDX= 349,-0.01,-1.226,-2.679,-0.645,-1.204, PHS= 0.080,-1.430, 0.515, RAW= 162.3, 9.5, CAL= 162.1, 10.1, ROT= 347.9, -10.1
2025-09-20T20:24:31.619Z,1758399871.619 [DAT](INFO): DAT read: Bearing 278.9, -16.5 (Local)
2025-09-20T20:24:31.619Z,1758399871.619 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.9, -16.5 (Local)
2025-09-20T20:24:31.621Z,1758399871.621 [DAT](INFO): DAT read: Range 11 to 50 : 49.2 m (Round-trip 65.7 ms) speed 0.4 m/s
2025-09-20T20:24:31.622Z,1758399871.622 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:31.628Z,1758399871.628 [DAT](INFO): direction in FSK: [0.962631,-0.206370,0.175367]
2025-09-20T20:24:31.628Z,1758399871.628 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:31.636Z,1758399871.636 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:31.636Z,1758399871.636 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:31.636Z,1758399871.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:31.860Z,1758399871.860 [DAT](INFO): DAT read: user:249>
2025-09-20T20:24:31.861Z,1758399871.861 [DAT](INFO): DAT read: Tx time:20:24:34.5500
2025-09-20T20:24:31.861Z,1758399871.861 [DAT](INFO): Ping request sent.
2025-09-20T20:24:31.861Z,1758399871.861 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:31.861Z,1758399871.861 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:31.862Z,1758399871.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730
2025-09-20T20:24:31.950Z,1758399871.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 49.200001 m,
deltaT: 16.126493 s,
deltaX: -9.000000 m,
approachRate: -0.558088 m/s,
rangeRepo size: 4
2025-09-20T20:24:31.956Z,1758399871.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 48.988995 m,
bearing: 98.642689 deg,
lat: 36.779282 deg,
lon: -121.859543 deg,
deltaT: 16.126493 s,
deltaX: -8.959465 m,
approachRate: -0.555574 m/s,
posRepo size: 4
2025-09-20T20:24:31.957Z,1758399871.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:31.965Z,1758399871.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 48.458744 m,
bearing: 102.515469 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.009642 deg/s,
cmd heading: 107.195550 deg,
new cmd heading: 107.186250 deg.
2025-09-20T20:24:31.966Z,1758399871.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870753 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:32.112Z,1758399872.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251333
2025-09-20T20:24:32.344Z,1758399872.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:32.351Z,1758399872.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 48.241985 m,
bearing: 102.504179 deg,
approach rate: -0.549127 m/s,
LOS rate: -0.028729 deg/s,
cmd heading: 107.186247 deg,
new cmd heading: 107.163567 deg.
2025-09-20T20:24:32.352Z,1758399872.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.870357 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:32.364Z,1758399872.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503205
2025-09-20T20:24:32.616Z,1758399872.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754974
2025-09-20T20:24:32.717Z,1758399872.717 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:32.719Z,1758399872.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:32.722Z,1758399872.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 48.025665 m,
bearing: 102.492391 deg,
approach rate: -0.577149 m/s,
LOS rate: -0.031591 deg/s,
cmd heading: 107.163564 deg,
new cmd heading: 107.139883 deg.
2025-09-20T20:24:32.723Z,1758399872.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869944 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:32.870Z,1758399872.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009048
2025-09-20T20:24:33.120Z,1758399873.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031
2025-09-20T20:24:33.163Z,1758399873.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:33.166Z,1758399873.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 47.784767 m,
bearing: 102.475235 deg,
approach rate: -0.542418 m/s,
LOS rate: -0.038825 deg/s,
cmd heading: 107.139884 deg,
new cmd heading: 107.105398 deg.
2025-09-20T20:24:33.167Z,1758399873.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.869342 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:33.374Z,1758399873.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512432
2025-09-20T20:24:33.562Z,1758399873.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:33.565Z,1758399873.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 47.574867 m,
bearing: 102.459881 deg,
approach rate: -0.530476 m/s,
LOS rate: -0.038974 deg/s,
cmd heading: 107.105398 deg,
new cmd heading: 107.074556 deg.
2025-09-20T20:24:33.566Z,1758399873.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868804 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:33.625Z,1758399873.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763565
2025-09-20T20:24:33.876Z,1758399873.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015482
2025-09-20T20:24:33.949Z,1758399873.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:33.952Z,1758399873.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 47.359005 m,
bearing: 102.443949 deg,
approach rate: -0.552936 m/s,
LOS rate: -0.040996 deg/s,
cmd heading: 107.074553 deg,
new cmd heading: 107.042545 deg.
2025-09-20T20:24:33.953Z,1758399873.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.868245 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:34.129Z,1758399874.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267908
2025-09-20T20:24:34.381Z,1758399874.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520220
2025-09-20T20:24:34.460Z,1758399874.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:34.462Z,1758399874.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 47.091057 m,
bearing: 102.417687 deg,
approach rate: -0.524837 m/s,
LOS rate: -0.051733 deg/s,
cmd heading: 107.042547 deg,
new cmd heading: 106.989724 deg.
2025-09-20T20:24:34.468Z,1758399874.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.867323 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:34.632Z,1758399874.632 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770897
2025-09-20T20:24:34.885Z,1758399874.885 [DAT](INFO): DAT read: Rx Time:20:24:37.0170
2025-09-20T20:24:34.886Z,1758399874.886 [DAT](INFO): Rx dataTimestamp_ set to:1758399874.884991
2025-09-20T20:24:34.887Z,1758399874.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025813
2025-09-20T20:24:34.992Z,1758399874.992 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:34.994Z,1758399874.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 48.99 m.
2025-09-20T20:24:35.001Z,1758399875.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 48.988995 m,
nav range: 46.800438 m,
bearing: 102.388766 deg,
approach rate: -0.544174 m/s,
LOS rate: -0.054490 deg/s,
cmd heading: 106.989722 deg,
new cmd heading: 106.931521 deg.
2025-09-20T20:24:35.002Z,1758399875.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.866307 target range: 48.988995 and range: 49.20 m.
2025-09-20T20:24:35.136Z,1758399875.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275000
2025-09-20T20:24:35.397Z,1758399875.397 [DAT](INFO): DAT read: 20:24:37.0170 LVL= 24688, 29425, 20178, 27427, AGC= 65, IDX= 418,-0.42,-0.245,-1.711, 0.341,-0.209, PHS= 0.066,-1.457, 0.506, RAW= 162.3, 9.9, CAL= 162.3, 10.8, ROT= 347.7, -10.8
2025-09-20T20:24:35.399Z,1758399875.399 [DAT](INFO): got valid direction response:
20:24:37.0170 LVL= 24688, 29425, 20178, 27427, AGC= 65, IDX= 418,-0.42,-0.245,-1.711, 0.341,-0.209, PHS= 0.066,-1.457, 0.506, RAW= 162.3, 9.9, CAL= 162.3, 10.8, ROT= 347.7, -10.8
2025-09-20T20:24:35.401Z,1758399875.401 [DAT](INFO): DAT read: Bearing 280.2, -16.3 (Local)
2025-09-20T20:24:35.401Z,1758399875.401 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.2, -16.3 (Local)
2025-09-20T20:24:35.402Z,1758399875.402 [DAT](INFO): DAT read: Range 11 to 50 : 47.1 m (Round-trip 62.9 ms) speed 0.4 m/s
2025-09-20T20:24:35.403Z,1758399875.403 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:35.404Z,1758399875.404 [DAT](INFO): direction in FSK: [0.959739,-0.209257,0.187381]
2025-09-20T20:24:35.404Z,1758399875.404 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:35.408Z,1758399875.408 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:35.408Z,1758399875.408 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:35.409Z,1758399875.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:35.561Z,1758399875.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 47.099998 m,
deltaT: 3.780867 s,
deltaX: -2.100002 m,
approachRate: -0.555429 m/s,
rangeRepo size: 4
2025-09-20T20:24:35.567Z,1758399875.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 46.897129 m,
bearing: 99.031984 deg,
lat: 36.779288 deg,
lon: -121.859541 deg,
deltaT: 3.780867 s,
deltaX: -2.091866 m,
approachRate: -0.553277 m/s,
posRepo size: 4
2025-09-20T20:24:35.568Z,1758399875.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:35.570Z,1758399875.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 46.589668 m,
bearing: 101.485061 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.054490 deg/s,
cmd heading: 106.931522 deg,
new cmd heading: 106.869809 deg.
2025-09-20T20:24:35.576Z,1758399875.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.865230 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:35.641Z,1758399875.641 [DAT](INFO): DAT read: user:250>
2025-09-20T20:24:35.642Z,1758399875.642 [DAT](INFO): DAT read: Tx time:20:24:38.3000
2025-09-20T20:24:35.642Z,1758399875.642 [DAT](INFO): Ping request sent.
2025-09-20T20:24:35.643Z,1758399875.643 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:35.643Z,1758399875.643 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:35.644Z,1758399875.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001221
2025-09-20T20:24:35.899Z,1758399875.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.256715
2025-09-20T20:24:35.936Z,1758399875.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:35.939Z,1758399875.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 46.389095 m,
bearing: 101.462454 deg,
approach rate: -0.534760 m/s,
LOS rate: -0.060533 deg/s,
cmd heading: 106.869812 deg,
new cmd heading: 106.824403 deg.
2025-09-20T20:24:35.940Z,1758399875.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.864438 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:36.144Z,1758399876.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501330
2025-09-20T20:24:36.340Z,1758399876.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:36.342Z,1758399876.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 46.174473 m,
bearing: 101.433372 deg,
approach rate: -0.530516 m/s,
LOS rate: -0.072221 deg/s,
cmd heading: 106.824405 deg,
new cmd heading: 106.765970 deg.
2025-09-20T20:24:36.344Z,1758399876.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.863418 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:36.397Z,1758399876.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754519
2025-09-20T20:24:36.648Z,1758399876.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005281
2025-09-20T20:24:36.732Z,1758399876.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:36.739Z,1758399876.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 45.970684 m,
bearing: 101.405712 deg,
approach rate: -0.519240 m/s,
LOS rate: -0.070787 deg/s,
cmd heading: 106.765972 deg,
new cmd heading: 106.710408 deg.
2025-09-20T20:24:36.740Z,1758399876.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.862448 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:36.900Z,1758399876.900 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257399
2025-09-20T20:24:37.152Z,1758399877.152 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509400
2025-09-20T20:24:37.171Z,1758399877.171 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:37.173Z,1758399877.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:37.176Z,1758399877.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 45.742664 m,
bearing: 101.381861 deg,
approach rate: -0.517116 m/s,
LOS rate: -0.054360 deg/s,
cmd heading: 106.710409 deg,
new cmd heading: 106.662469 deg.
2025-09-20T20:24:37.177Z,1758399877.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.861611 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:37.404Z,1758399877.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761469
2025-09-20T20:24:37.510Z,1758399877.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:37.513Z,1758399877.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 45.571159 m,
bearing: 101.364446 deg,
approach rate: -0.509391 m/s,
LOS rate: -0.051920 deg/s,
cmd heading: 106.662468 deg,
new cmd heading: 106.627506 deg.
2025-09-20T20:24:37.514Z,1758399877.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.861001 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:37.656Z,1758399877.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013314
2025-09-20T20:24:37.908Z,1758399877.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265489
2025-09-20T20:24:37.941Z,1758399877.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:37.944Z,1758399877.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 45.351906 m,
bearing: 101.342193 deg,
approach rate: -0.508720 m/s,
LOS rate: -0.051881 deg/s,
cmd heading: 106.627504 deg,
new cmd heading: 106.582783 deg.
2025-09-20T20:24:37.945Z,1758399877.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.860220 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:38.164Z,1758399878.164 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520653
2025-09-20T20:24:38.373Z,1758399878.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:38.379Z,1758399878.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 45.132664 m,
bearing: 101.325000 deg,
approach rate: -0.507659 m/s,
LOS rate: -0.040006 deg/s,
cmd heading: 106.582780 deg,
new cmd heading: 106.548225 deg.
2025-09-20T20:24:38.381Z,1758399878.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859617 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:38.412Z,1758399878.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769562
2025-09-20T20:24:38.665Z,1758399878.665 [DAT](INFO): DAT read: Rx Time:20:24:40.7644
2025-09-20T20:24:38.665Z,1758399878.665 [DAT](INFO): Rx dataTimestamp_ set to:1758399878.665117
2025-09-20T20:24:38.666Z,1758399878.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023329
2025-09-20T20:24:38.745Z,1758399878.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.90 m.
2025-09-20T20:24:38.748Z,1758399878.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 46.897129 m,
nav range: 44.936241 m,
bearing: 101.309660 deg,
approach rate: -0.527845 m/s,
LOS rate: -0.041403 deg/s,
cmd heading: 106.548226 deg,
new cmd heading: 106.517412 deg.
2025-09-20T20:24:38.749Z,1758399878.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.859080 target range: 46.897129 and range: 47.10 m.
2025-09-20T20:24:38.916Z,1758399878.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273369
2025-09-20T20:24:39.173Z,1758399879.173 [DAT](INFO): DAT read: 20:24:40.7644 LVL= 27264, 28993, 20338, 30515, AGC= 66, IDX= 422, 0.06,-2.479, 2.313,-1.925,-2.468, PHS= 0.091,-1.457, 0.499, RAW= 161.4, 9.7, CAL= 161.3, 10.5, ROT= 348.7, -10.5
2025-09-20T20:24:39.174Z,1758399879.174 [DAT](INFO): got valid direction response:
20:24:40.7644 LVL= 27264, 28993, 20338, 30515, AGC= 66, IDX= 422, 0.06,-2.479, 2.313,-1.925,-2.468, PHS= 0.091,-1.457, 0.499, RAW= 161.4, 9.7, CAL= 161.3, 10.5, ROT= 348.7, -10.5
2025-09-20T20:24:39.175Z,1758399879.175 [DAT](INFO): DAT read: Bearing 280.1, -14.7 (Local)
2025-09-20T20:24:39.176Z,1758399879.176 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.1, -14.7 (Local)
2025-09-20T20:24:39.177Z,1758399879.177 [DAT](INFO): DAT read: Range 11 to 50 : 45.2 m (Round-trip 60.3 ms) speed 0.4 m/s
2025-09-20T20:24:39.178Z,1758399879.178 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:39.179Z,1758399879.179 [DAT](INFO): direction in FSK: [0.964194,-0.192665,0.182236]
2025-09-20T20:24:39.196Z,1758399879.196 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:39.206Z,1758399879.206 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:39.206Z,1758399879.206 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:39.206Z,1758399879.206 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:39.258Z,1758399879.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 45.200001 m,
deltaT: 3.778973 s,
deltaX: -1.899998 m,
approachRate: -0.502782 m/s,
rangeRepo size: 4
2025-09-20T20:24:39.265Z,1758399879.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 45.004246 m,
bearing: 99.559544 deg,
lat: 36.779300 deg,
lon: -121.859539 deg,
deltaT: 3.778973 s,
deltaX: -1.892883 m,
approachRate: -0.500899 m/s,
posRepo size: 4
2025-09-20T20:24:39.266Z,1758399879.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:39.273Z,1758399879.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 44.559582 m,
bearing: 99.559392 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.041403 deg/s,
cmd heading: 106.517415 deg,
new cmd heading: 106.475830 deg.
2025-09-20T20:24:39.274Z,1758399879.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.858354 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:39.421Z,1758399879.421 [DAT](INFO): DAT read: user:251>
2025-09-20T20:24:39.421Z,1758399879.421 [DAT](INFO): DAT read: Tx time:20:24:42.1000
2025-09-20T20:24:39.422Z,1758399879.422 [DAT](INFO): Ping request sent.
2025-09-20T20:24:39.422Z,1758399879.422 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:39.422Z,1758399879.422 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:39.422Z,1758399879.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-09-20T20:24:39.592Z,1758399879.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:39.594Z,1758399879.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:39.601Z,1758399879.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 44.370834 m,
bearing: 99.534556 deg,
approach rate: -0.544088 m/s,
LOS rate: -0.071896 deg/s,
cmd heading: 106.475833 deg,
new cmd heading: 106.425950 deg.
2025-09-20T20:24:39.602Z,1758399879.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.857483 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:39.673Z,1758399879.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251092
2025-09-20T20:24:39.924Z,1758399879.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502051
2025-09-20T20:24:39.964Z,1758399879.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:39.967Z,1758399879.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 44.187927 m,
bearing: 99.510264 deg,
approach rate: -0.494357 m/s,
LOS rate: -0.065929 deg/s,
cmd heading: 106.425952 deg,
new cmd heading: 106.377166 deg.
2025-09-20T20:24:39.972Z,1758399879.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.856632 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:40.179Z,1758399880.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756809
2025-09-20T20:24:40.377Z,1758399880.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:40.382Z,1758399880.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 43.953487 m,
bearing: 99.483947 deg,
approach rate: -0.568485 m/s,
LOS rate: -0.064154 deg/s,
cmd heading: 106.377164 deg,
new cmd heading: 106.324250 deg.
2025-09-20T20:24:40.383Z,1758399880.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.855708 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:40.428Z,1758399880.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006470
2025-09-20T20:24:40.680Z,1758399880.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258139
2025-09-20T20:24:40.757Z,1758399880.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:40.761Z,1758399880.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 43.743130 m,
bearing: 99.460378 deg,
approach rate: -0.553277 m/s,
LOS rate: -0.062289 deg/s,
cmd heading: 106.324250 deg,
new cmd heading: 106.276885 deg.
2025-09-20T20:24:40.763Z,1758399880.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.854882 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:40.932Z,1758399880.932 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510326
2025-09-20T20:24:41.187Z,1758399881.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764412
2025-09-20T20:24:41.218Z,1758399881.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:41.225Z,1758399881.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 43.494102 m,
bearing: 99.432482 deg,
approach rate: -0.539505 m/s,
LOS rate: -0.060782 deg/s,
cmd heading: 106.276883 deg,
new cmd heading: 106.220771 deg.
2025-09-20T20:24:41.226Z,1758399881.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853902 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:41.437Z,1758399881.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014927
2025-09-20T20:24:41.575Z,1758399881.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:41.578Z,1758399881.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 43.295868 m,
bearing: 99.410526 deg,
approach rate: -0.555883 m/s,
LOS rate: -0.061851 deg/s,
cmd heading: 106.220773 deg,
new cmd heading: 106.176659 deg.
2025-09-20T20:24:41.579Z,1758399881.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.853132 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:41.688Z,1758399881.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266206
2025-09-20T20:24:41.940Z,1758399881.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518299
2025-09-20T20:24:41.959Z,1758399881.959 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:41.961Z,1758399881.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:41.964Z,1758399881.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 43.085796 m,
bearing: 99.387296 deg,
approach rate: -0.543280 m/s,
LOS rate: -0.060367 deg/s,
cmd heading: 106.176657 deg,
new cmd heading: 106.129972 deg.
2025-09-20T20:24:41.965Z,1758399881.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.852317 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:42.195Z,1758399882.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772711
2025-09-20T20:24:42.394Z,1758399882.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:42.397Z,1758399882.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 42.850018 m,
bearing: 99.363411 deg,
approach rate: -0.544887 m/s,
LOS rate: -0.055504 deg/s,
cmd heading: 106.129972 deg,
new cmd heading: 106.081938 deg.
2025-09-20T20:24:42.398Z,1758399882.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.851479 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:42.446Z,1758399882.446 [DAT](INFO): DAT read: Rx Time:20:24:44.5617
2025-09-20T20:24:42.446Z,1758399882.446 [DAT](INFO): Rx dataTimestamp_ set to:1758399882.446017
2025-09-20T20:24:42.447Z,1758399882.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025573
2025-09-20T20:24:42.696Z,1758399882.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274294
2025-09-20T20:24:42.835Z,1758399882.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.00 m.
2025-09-20T20:24:42.838Z,1758399882.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 45.004246 m,
nav range: 42.640175 m,
bearing: 99.342245 deg,
approach rate: -0.475429 m/s,
LOS rate: -0.048190 deg/s,
cmd heading: 106.081936 deg,
new cmd heading: 106.039396 deg.
2025-09-20T20:24:42.844Z,1758399882.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.850737 target range: 45.004246 and range: 45.20 m.
2025-09-20T20:24:42.956Z,1758399882.956 [DAT](INFO): DAT read: 20:24:44.5617 LVL= 28224, 30353, 20578, 31283, AGC= 65, IDX= 411,-0.44,-2.292, 2.508,-1.762,-2.309, PHS= 0.119,-1.422, 0.503, RAW= 160.9, 9.1, CAL= 160.7, 9.6, ROT= 349.3, -9.6
2025-09-20T20:24:42.957Z,1758399882.957 [DAT](INFO): got valid direction response:
20:24:44.5617 LVL= 28224, 30353, 20578, 31283, AGC= 65, IDX= 411,-0.44,-2.292, 2.508,-1.762,-2.309, PHS= 0.119,-1.422, 0.503, RAW= 160.9, 9.1, CAL= 160.7, 9.6, ROT= 349.3, -9.6
2025-09-20T20:24:42.959Z,1758399882.959 [DAT](INFO): DAT read: Bearing 279.0, -13.2 (Local)
2025-09-20T20:24:42.959Z,1758399882.959 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.0, -13.2 (Local)
2025-09-20T20:24:42.961Z,1758399882.961 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m (Round-trip 57.6 ms) speed 0.4 m/s
2025-09-20T20:24:42.962Z,1758399882.962 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:42.971Z,1758399882.971 [DAT](INFO): direction in FSK: [0.968852,-0.183067,0.166769]
2025-09-20T20:24:42.971Z,1758399882.971 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:42.974Z,1758399882.974 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:42.974Z,1758399882.974 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:42.979Z,1758399882.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:43.203Z,1758399883.203 [DAT](INFO): DAT read: user:252>
2025-09-20T20:24:43.206Z,1758399883.206 [DAT](INFO): DAT read: Tx time:20:24:45.9000
2025-09-20T20:24:43.207Z,1758399883.207 [DAT](INFO): Ping request sent.
2025-09-20T20:24:43.208Z,1758399883.208 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:43.208Z,1758399883.208 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:43.210Z,1758399883.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002826
2025-09-20T20:24:43.309Z,1758399883.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 43.200001 m,
deltaT: 3.779981 s,
deltaX: -2.000000 m,
approachRate: -0.529103 m/s,
rangeRepo size: 4
2025-09-20T20:24:43.315Z,1758399883.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 43.014732 m,
bearing: 99.683269 deg,
lat: 36.779300 deg,
lon: -121.859538 deg,
deltaT: 3.779981 s,
deltaX: -1.989513 m,
approachRate: -0.526329 m/s,
posRepo size: 4
2025-09-20T20:24:43.316Z,1758399883.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:43.319Z,1758399883.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 42.496582 m,
bearing: 99.289320 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.048190 deg/s,
cmd heading: 106.039397 deg,
new cmd heading: 105.993818 deg.
2025-09-20T20:24:43.324Z,1758399883.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849941 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:43.452Z,1758399883.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245430
2025-09-20T20:24:43.650Z,1758399883.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:43.653Z,1758399883.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 42.302887 m,
bearing: 99.273324 deg,
approach rate: -0.567136 m/s,
LOS rate: -0.047053 deg/s,
cmd heading: 105.993819 deg,
new cmd heading: 105.961679 deg.
2025-09-20T20:24:43.654Z,1758399883.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.849380 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:43.705Z,1758399883.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497950
2025-09-20T20:24:43.956Z,1758399883.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749204
2025-09-20T20:24:44.058Z,1758399884.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:44.060Z,1758399884.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:44.063Z,1758399884.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 42.080597 m,
bearing: 99.254823 deg,
approach rate: -0.541628 m/s,
LOS rate: -0.045317 deg/s,
cmd heading: 105.961676 deg,
new cmd heading: 105.924479 deg.
2025-09-20T20:24:44.064Z,1758399884.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848731 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:44.213Z,1758399884.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005392
2025-09-20T20:24:44.460Z,1758399884.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253181
2025-09-20T20:24:44.499Z,1758399884.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:44.502Z,1758399884.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 41.853848 m,
bearing: 99.233826 deg,
approach rate: -0.521514 m/s,
LOS rate: -0.048554 deg/s,
cmd heading: 105.924479 deg,
new cmd heading: 105.882258 deg.
2025-09-20T20:24:44.507Z,1758399884.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847994 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:44.712Z,1758399884.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505087
2025-09-20T20:24:44.880Z,1758399884.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:44.882Z,1758399884.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 41.633778 m,
bearing: 99.213315 deg,
approach rate: -0.573602 m/s,
LOS rate: -0.053744 deg/s,
cmd heading: 105.882255 deg,
new cmd heading: 105.841016 deg.
2025-09-20T20:24:44.884Z,1758399884.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.847274 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:44.965Z,1758399884.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757974
2025-09-20T20:24:45.219Z,1758399885.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011515
2025-09-20T20:24:45.314Z,1758399885.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:45.317Z,1758399885.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 41.395153 m,
bearing: 99.191324 deg,
approach rate: -0.548654 m/s,
LOS rate: -0.050852 deg/s,
cmd heading: 105.841014 deg,
new cmd heading: 105.796780 deg.
2025-09-20T20:24:45.318Z,1758399885.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.846502 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:45.468Z,1758399885.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261410
2025-09-20T20:24:45.701Z,1758399885.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:45.704Z,1758399885.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 41.190731 m,
bearing: 99.172283 deg,
approach rate: -0.547794 m/s,
LOS rate: -0.051279 deg/s,
cmd heading: 105.796782 deg,
new cmd heading: 105.758510 deg.
2025-09-20T20:24:45.705Z,1758399885.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845834 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:45.720Z,1758399885.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513251
2025-09-20T20:24:45.976Z,1758399885.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769164
2025-09-20T20:24:46.079Z,1758399886.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:46.081Z,1758399886.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:46.084Z,1758399886.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 40.975170 m,
bearing: 99.152139 deg,
approach rate: -0.546995 m/s,
LOS rate: -0.051386 deg/s,
cmd heading: 105.758513 deg,
new cmd heading: 105.718012 deg.
2025-09-20T20:24:46.085Z,1758399886.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.845127 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:46.230Z,1758399886.230 [DAT](INFO): DAT read: Rx Time:20:24:48.3589
2025-09-20T20:24:46.232Z,1758399886.232 [DAT](INFO): Rx dataTimestamp_ set to:1758399886.231309
2025-09-20T20:24:46.234Z,1758399886.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026984
2025-09-20T20:24:46.480Z,1758399886.480 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273269
2025-09-20T20:24:46.497Z,1758399886.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.01 m.
2025-09-20T20:24:46.500Z,1758399886.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 43.014732 m,
nav range: 40.750366 m,
bearing: 99.123925 deg,
approach rate: -0.540614 m/s,
LOS rate: -0.068223 deg/s,
cmd heading: 105.718009 deg,
new cmd heading: 105.661271 deg.
2025-09-20T20:24:46.501Z,1758399886.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.844137 target range: 43.014732 and range: 43.20 m.
2025-09-20T20:24:46.746Z,1758399886.746 [DAT](INFO): DAT read: 20:24:48.3589 LVL= 24112, 26993, 19826, 28019, AGC= 63, IDX= 414, 0.20,-0.507,-2.001,-0.023,-0.513, PHS= 0.108,-1.443, 0.446, RAW= 159.7, 10.2, CAL= 159.6, 11.1, ROT= 350.4, -11.1
2025-09-20T20:24:46.747Z,1758399886.747 [DAT](INFO): got valid direction response:
20:24:48.3589 LVL= 24112, 26993, 19826, 28019, AGC= 63, IDX= 414, 0.20,-0.507,-2.001,-0.023,-0.513, PHS= 0.108,-1.443, 0.446, RAW= 159.7, 10.2, CAL= 159.6, 11.1, ROT= 350.4, -11.1
2025-09-20T20:24:46.748Z,1758399886.748 [DAT](INFO): DAT read: Bearing 280.4, -11.6 (Local)
2025-09-20T20:24:46.749Z,1758399886.749 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.4, -11.6 (Local)
2025-09-20T20:24:46.750Z,1758399886.750 [DAT](INFO): DAT read: Range 11 to 50 : 41.1 m (Round-trip 54.8 ms) speed 0.6 m/s
2025-09-20T20:24:46.753Z,1758399886.753 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:46.754Z,1758399886.754 [DAT](INFO): direction in FSK: [0.967551,-0.163649,0.192522]
2025-09-20T20:24:46.755Z,1758399886.755 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:46.761Z,1758399886.761 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:46.762Z,1758399886.762 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:46.762Z,1758399886.762 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:46.960Z,1758399886.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 41.099998 m,
deltaT: 3.784434 s,
deltaX: -2.100002 m,
approachRate: -0.554905 m/s,
rangeRepo size: 4
2025-09-20T20:24:46.962Z,1758399886.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 40.924969 m,
bearing: 100.605353 deg,
lat: 36.779300 deg,
lon: -121.859538 deg,
deltaT: 3.784434 s,
deltaX: -2.089764 m,
approachRate: -0.552200 m/s,
posRepo size: 4
2025-09-20T20:24:46.962Z,1758399886.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:46.969Z,1758399886.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 40.513756 m,
bearing: 99.093890 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068223 deg/s,
cmd heading: 105.661271 deg,
new cmd heading: 105.598800 deg.
2025-09-20T20:24:46.970Z,1758399886.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.843047 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:46.984Z,1758399886.984 [DAT](INFO): DAT read: user:253>
2025-09-20T20:24:46.985Z,1758399886.985 [DAT](INFO): DAT read: Tx time:20:24:49.6500
2025-09-20T20:24:46.985Z,1758399886.985 [DAT](INFO): Ping request sent.
2025-09-20T20:24:46.985Z,1758399886.985 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:46.985Z,1758399886.985 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:46.986Z,1758399886.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735
2025-09-20T20:24:47.241Z,1758399887.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253132
2025-09-20T20:24:47.377Z,1758399887.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:47.384Z,1758399887.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 40.283272 m,
bearing: 99.065825 deg,
approach rate: -0.546260 m/s,
LOS rate: -0.066894 deg/s,
cmd heading: 105.598802 deg,
new cmd heading: 105.542353 deg.
2025-09-20T20:24:47.385Z,1758399887.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.842062 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:47.488Z,1758399887.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503197
2025-09-20T20:24:47.708Z,1758399887.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:47.711Z,1758399887.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 40.083542 m,
bearing: 99.041380 deg,
approach rate: -0.603073 m/s,
LOS rate: -0.074180 deg/s,
cmd heading: 105.542351 deg,
new cmd heading: 105.493216 deg.
2025-09-20T20:24:47.712Z,1758399887.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.841204 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:47.740Z,1758399887.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755060
2025-09-20T20:24:47.992Z,1758399887.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006845
2025-09-20T20:24:48.120Z,1758399888.120 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:48.122Z,1758399888.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:48.125Z,1758399888.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 39.853180 m,
bearing: 99.013006 deg,
approach rate: -0.555953 m/s,
LOS rate: -0.068873 deg/s,
cmd heading: 105.493214 deg,
new cmd heading: 105.436139 deg.
2025-09-20T20:24:48.126Z,1758399888.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.840208 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:48.244Z,1758399888.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258890
2025-09-20T20:24:48.496Z,1758399888.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510729
2025-09-20T20:24:48.576Z,1758399888.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:48.579Z,1758399888.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 39.615135 m,
bearing: 98.977518 deg,
approach rate: -0.524182 m/s,
LOS rate: -0.078615 deg/s,
cmd heading: 105.436141 deg,
new cmd heading: 105.364739 deg.
2025-09-20T20:24:48.580Z,1758399888.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.838962 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:48.748Z,1758399888.748 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762747
2025-09-20T20:24:48.930Z,1758399888.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:48.933Z,1758399888.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 39.435513 m,
bearing: 98.950759 deg,
approach rate: -0.507061 m/s,
LOS rate: -0.075882 deg/s,
cmd heading: 105.364738 deg,
new cmd heading: 105.310977 deg.
2025-09-20T20:24:48.934Z,1758399888.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.838023 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:49.000Z,1758399889.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014965
2025-09-20T20:24:49.256Z,1758399889.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270006
2025-09-20T20:24:49.402Z,1758399889.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:49.405Z,1758399889.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 39.170414 m,
bearing: 98.910276 deg,
approach rate: -0.562059 m/s,
LOS rate: -0.086414 deg/s,
cmd heading: 105.310978 deg,
new cmd heading: 105.229463 deg.
2025-09-20T20:24:49.406Z,1758399889.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.836601 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:49.504Z,1758399889.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519013
2025-09-20T20:24:49.736Z,1758399889.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:49.738Z,1758399889.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 38.987282 m,
bearing: 98.882203 deg,
approach rate: -0.548892 m/s,
LOS rate: -0.084538 deg/s,
cmd heading: 105.229460 deg,
new cmd heading: 105.173050 deg.
2025-09-20T20:24:49.740Z,1758399889.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.835616 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:49.765Z,1758399889.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779383
2025-09-20T20:24:50.016Z,1758399890.016 [DAT](INFO): DAT read: Rx Time:20:24:52.1062
2025-09-20T20:24:50.016Z,1758399890.016 [DAT](INFO): Rx dataTimestamp_ set to:1758399890.016194
2025-09-20T20:24:50.017Z,1758399890.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031814
2025-09-20T20:24:50.137Z,1758399890.137 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:50.139Z,1758399890.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.92 m.
2025-09-20T20:24:50.142Z,1758399890.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 40.924969 m,
nav range: 38.766178 m,
bearing: 98.848326 deg,
approach rate: -0.548167 m/s,
LOS rate: -0.084468 deg/s,
cmd heading: 105.173049 deg,
new cmd heading: 105.104909 deg.
2025-09-20T20:24:50.143Z,1758399890.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.834427 target range: 40.924969 and range: 41.10 m.
2025-09-20T20:24:50.270Z,1758399890.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284612
2025-09-20T20:24:50.525Z,1758399890.525 [DAT](INFO): DAT read: 20:24:52.1062 LVL= 24048, 26609, 19442, 32755, AGC= 62, IDX= 419,-0.26, 3.002, 1.500,-2.783, 2.994, PHS= 0.111,-1.448, 0.462, RAW= 160.0, 10.0, CAL= 159.9, 10.8, ROT= 350.1, -10.8
2025-09-20T20:24:50.526Z,1758399890.526 [DAT](INFO): got valid direction response:
20:24:52.1062 LVL= 24048, 26609, 19442, 32755, AGC= 62, IDX= 419,-0.26, 3.002, 1.500,-2.783, 2.994, PHS= 0.111,-1.448, 0.462, RAW= 160.0, 10.0, CAL= 159.9, 10.8, ROT= 350.1, -10.8
2025-09-20T20:24:50.527Z,1758399890.527 [DAT](INFO): DAT read: Bearing 280.0, -11.4 (Local)
2025-09-20T20:24:50.528Z,1758399890.528 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.0, -11.4 (Local)
2025-09-20T20:24:50.529Z,1758399890.529 [DAT](INFO): DAT read: Range 11 to 50 : 39.0 m (Round-trip 52.1 ms) speed 0.4 m/s
2025-09-20T20:24:50.530Z,1758399890.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:50.531Z,1758399890.531 [DAT](INFO): direction in FSK: [0.967660,-0.168884,0.187381]
2025-09-20T20:24:50.531Z,1758399890.531 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:50.534Z,1758399890.534 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:50.534Z,1758399890.534 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:50.534Z,1758399890.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:24:50.645Z,1758399890.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 39.000000 m,
deltaT: 3.787568 s,
deltaX: -2.099998 m,
approachRate: -0.554445 m/s,
rangeRepo size: 4
2025-09-20T20:24:50.652Z,1758399890.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 38.835052 m,
bearing: 99.979087 deg,
lat: 36.779297 deg,
lon: -121.859539 deg,
deltaT: 3.787568 s,
deltaX: -2.089916 m,
approachRate: -0.551783 m/s,
posRepo size: 4
2025-09-20T20:24:50.653Z,1758399890.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:50.659Z,1758399890.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 38.427841 m,
bearing: 99.293051 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.084468 deg/s,
cmd heading: 105.104911 deg,
new cmd heading: 105.019477 deg.
2025-09-20T20:24:50.660Z,1758399890.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832936 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:50.773Z,1758399890.773 [DAT](INFO): DAT read: user:254>
2025-09-20T20:24:50.774Z,1758399890.774 [DAT](INFO): DAT read: Tx time:20:24:53.4500
2025-09-20T20:24:50.775Z,1758399890.775 [DAT](INFO): Ping request sent.
2025-09-20T20:24:50.775Z,1758399890.775 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:50.775Z,1758399890.775 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:50.776Z,1758399890.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001238
2025-09-20T20:24:51.002Z,1758399891.002 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-09-20T20:24:51.002Z,1758399891.002 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T20:24:51.002Z,1758399891.002 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-09-20T20:24:51.008Z,1758399891.008 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.000000 m (mode 2.000000 count ).
2025-09-20T20:24:51.008Z,1758399891.008 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-09-20T20:24:51.008Z,1758399891.008 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-09-20T20:24:51.010Z,1758399891.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:51.021Z,1758399891.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 38.237446 m,
bearing: 99.267088 deg,
approach rate: -0.521270 m/s,
LOS rate: -0.071438 deg/s,
cmd heading: 105.019479 deg,
new cmd heading: 104.967293 deg.
2025-09-20T20:24:51.022Z,1758399891.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.832025 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:51.024Z,1758399891.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249398
2025-09-20T20:24:51.277Z,1758399891.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502057
2025-09-20T20:24:51.407Z,1758399891.407 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-09-20T20:24:51.407Z,1758399891.407 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-09-20T20:24:51.409Z,1758399891.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:51.428Z,1758399891.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 38.022377 m,
bearing: 99.238868 deg,
approach rate: -0.538723 m/s,
LOS rate: -0.071087 deg/s,
cmd heading: 104.967297 deg,
new cmd heading: 104.910538 deg.
2025-09-20T20:24:51.429Z,1758399891.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.831034 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:51.529Z,1758399891.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753914
2025-09-20T20:24:51.781Z,1758399891.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006083
2025-09-20T20:24:51.807Z,1758399891.807 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-09-20T20:24:51.807Z,1758399891.807 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-09-20T20:24:51.809Z,1758399891.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:51.812Z,1758399891.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 37.812183 m,
bearing: 99.211431 deg,
approach rate: -0.525917 m/s,
LOS rate: -0.069031 deg/s,
cmd heading: 104.910538 deg,
new cmd heading: 104.855359 deg.
2025-09-20T20:24:51.813Z,1758399891.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.830071 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:52.032Z,1758399892.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257356
2025-09-20T20:24:52.196Z,1758399892.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-09-20T20:24:52.196Z,1758399892.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T20:24:52.196Z,1758399892.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-09-20T20:24:52.196Z,1758399892.196 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-09-20T20:24:52.197Z,1758399892.197 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:52.199Z,1758399892.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:52.202Z,1758399892.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 37.607395 m,
bearing: 99.184898 deg,
approach rate: -0.525276 m/s,
LOS rate: -0.068426 deg/s,
cmd heading: 104.855357 deg,
new cmd heading: 104.802002 deg.
2025-09-20T20:24:52.203Z,1758399892.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.829140 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:52.285Z,1758399892.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510238
2025-09-20T20:24:52.536Z,1758399892.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761207
2025-09-20T20:24:52.619Z,1758399892.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:52.622Z,1758399892.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 37.385010 m,
bearing: 99.167709 deg,
approach rate: -0.529440 m/s,
LOS rate: -0.041166 deg/s,
cmd heading: 104.801999 deg,
new cmd heading: 104.767416 deg.
2025-09-20T20:24:52.623Z,1758399892.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.828536 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:52.788Z,1758399892.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013534
2025-09-20T20:24:53.007Z,1758399893.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:53.010Z,1758399893.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 37.179924 m,
bearing: 99.152082 deg,
approach rate: -0.528551 m/s,
LOS rate: -0.040496 deg/s,
cmd heading: 104.767418 deg,
new cmd heading: 104.735992 deg.
2025-09-20T20:24:53.011Z,1758399893.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827988 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:53.040Z,1758399893.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265231
2025-09-20T20:24:53.292Z,1758399893.292 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517275
2025-09-20T20:24:53.441Z,1758399893.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:53.444Z,1758399893.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 36.951431 m,
bearing: 99.130414 deg,
approach rate: -0.526065 m/s,
LOS rate: -0.050195 deg/s,
cmd heading: 104.735992 deg,
new cmd heading: 104.692388 deg.
2025-09-20T20:24:53.445Z,1758399893.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.827227 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:53.546Z,1758399893.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771036
2025-09-20T20:24:53.796Z,1758399893.796 [DAT](INFO): DAT read: Rx Time:20:24:55.9035
2025-09-20T20:24:53.797Z,1758399893.797 [DAT](INFO): Rx dataTimestamp_ set to:1758399893.796288
2025-09-20T20:24:53.797Z,1758399893.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022386
2025-09-20T20:24:53.815Z,1758399893.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:53.817Z,1758399893.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 36.754913 m,
bearing: 99.111859 deg,
approach rate: -0.526465 m/s,
LOS rate: -0.049974 deg/s,
cmd heading: 104.692388 deg,
new cmd heading: 104.655080 deg.
2025-09-20T20:24:53.818Z,1758399893.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.826576 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:54.048Z,1758399894.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273422
2025-09-20T20:24:54.221Z,1758399894.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:54.228Z,1758399894.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.84 m.
2025-09-20T20:24:54.230Z,1758399894.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 38.835052 m,
nav range: 36.548313 m,
bearing: 99.092367 deg,
approach rate: -0.499883 m/s,
LOS rate: -0.047429 deg/s,
cmd heading: 104.655082 deg,
new cmd heading: 104.615877 deg.
2025-09-20T20:24:54.240Z,1758399894.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825891 target range: 38.835052 and range: 39.00 m.
2025-09-20T20:24:54.312Z,1758399894.312 [DAT](INFO): DAT read: 20:24:55.9035 LVL= 22736, 28465, 19042, 31523, AGC= 63, IDX= 407, 0.46, 1.427,-0.099, 1.907, 1.394, PHS= 0.135,-1.448, 0.469, RAW= 159.4, 9.6, CAL= 159.2, 10.2, ROT= 350.8, -10.2
2025-09-20T20:24:54.313Z,1758399894.313 [DAT](INFO): got valid direction response:
20:24:55.9035 LVL= 22736, 28465, 19042, 31523, AGC= 63, IDX= 407, 0.46, 1.427,-0.099, 1.907, 1.394, PHS= 0.135,-1.448, 0.469, RAW= 159.4, 9.6, CAL= 159.2, 10.2, ROT= 350.8, -10.2
2025-09-20T20:24:54.315Z,1758399894.315 [DAT](INFO): DAT read: Bearing 278.8, -10.3 (Local)
2025-09-20T20:24:54.315Z,1758399894.315 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.8, -10.3 (Local)
2025-09-20T20:24:54.317Z,1758399894.317 [DAT](INFO): DAT read: Range 11 to 50 : 37.1 m (Round-trip 49.5 ms) speed 0.4 m/s
2025-09-20T20:24:54.318Z,1758399894.318 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:54.326Z,1758399894.326 [DAT](INFO): direction in FSK: [0.971535,-0.157355,0.177085]
2025-09-20T20:24:54.333Z,1758399894.333 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:54.397Z,1758399894.397 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:24:54.398Z,1758399894.398 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:24:54.406Z,1758399894.406 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:24:54.552Z,1758399894.552 [DAT](INFO): DAT read: user:255>
2025-09-20T20:24:54.553Z,1758399894.553 [DAT](INFO): DAT read: Tx time:20:24:57.2999
2025-09-20T20:24:54.553Z,1758399894.553 [DAT](INFO): Ping request sent.
2025-09-20T20:24:54.553Z,1758399894.553 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:24:54.553Z,1758399894.553 [DAT](INFO): publishing transmit ping time
2025-09-20T20:24:54.554Z,1758399894.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-09-20T20:24:54.650Z,1758399894.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 37.099998 m,
deltaT: 3.782146 s,
deltaX: -1.900002 m,
approachRate: -0.502361 m/s,
rangeRepo size: 4
2025-09-20T20:24:54.652Z,1758399894.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 36.943100 m,
bearing: 100.003102 deg,
lat: 36.779294 deg,
lon: -121.859539 deg,
deltaT: 3.782146 s,
deltaX: -1.891953 m,
approachRate: -0.500233 m/s,
posRepo size: 4
2025-09-20T20:24:54.653Z,1758399894.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.94 m.
2025-09-20T20:24:54.656Z,1758399894.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.943100 m,
nav range: 36.382576 m,
bearing: 99.729626 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.047429 deg/s,
cmd heading: 104.615876 deg,
new cmd heading: 104.575889 deg.
2025-09-20T20:24:54.657Z,1758399894.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.825194 target range: 36.943100 and range: 37.10 m.
2025-09-20T20:24:54.804Z,1758399894.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251164
2025-09-20T20:24:55.027Z,1758399895.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.94 m.
2025-09-20T20:24:55.030Z,1758399895.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.943100 m,
nav range: 36.178467 m,
bearing: 99.715513 deg,
approach rate: -0.540856 m/s,
LOS rate: -0.037610 deg/s,
cmd heading: 104.575893 deg,
new cmd heading: 104.547506 deg.
2025-09-20T20:24:55.031Z,1758399895.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.824698 target range: 36.943100 and range: 37.10 m.
2025-09-20T20:24:55.056Z,1758399895.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502738
2025-09-20T20:24:55.308Z,1758399895.308 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754935
2025-09-20T20:24:55.467Z,1758399895.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.94 m.
2025-09-20T20:24:55.470Z,1758399895.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.943100 m,
nav range: 35.942070 m,
bearing: 99.703586 deg,
approach rate: -0.536818 m/s,
LOS rate: -0.027261 deg/s,
cmd heading: 104.547506 deg,
new cmd heading: 104.523497 deg.
2025-09-20T20:24:55.471Z,1758399895.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.824279 target range: 36.943100 and range: 37.10 m.
2025-09-20T20:24:55.562Z,1758399895.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008539
2025-09-20T20:24:55.812Z,1758399895.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924
2025-09-20T20:24:55.862Z,1758399895.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.94 m.
2025-09-20T20:24:55.865Z,1758399895.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.943100 m,
nav range: 35.729774 m,
bearing: 99.693116 deg,
approach rate: -0.537040 m/s,
LOS rate: -0.026644 deg/s,
cmd heading: 104.523498 deg,
new cmd heading: 104.502433 deg.
2025-09-20T20:24:55.866Z,1758399895.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823912 target range: 36.943100 and range: 37.10 m.
2025-09-20T20:24:56.064Z,1758399896.064 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510833
2025-09-20T20:24:56.257Z,1758399896.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:24:56.259Z,1758399896.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.94 m.
2025-09-20T20:24:56.262Z,1758399896.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.943100 m,
nav range: 35.517193 m,
bearing: 99.682506 deg,
approach rate: -0.536421 m/s,
LOS rate: -0.026933 deg/s,
cmd heading: 104.502434 deg,
new cmd heading: 104.481087 deg.
2025-09-20T20:24:56.263Z,1758399896.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823539 target range: 36.943100 and range: 37.10 m.
2025-09-20T20:24:56.318Z,1758399896.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764591
2025-09-20T20:24:56.568Z,1758399896.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014820
2025-09-20T20:24:56.667Z,1758399896.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.94 m.
2025-09-20T20:24:56.670Z,1758399896.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 36.943100 m,
nav range: 35.295727 m,
bearing: 99.674403 deg,
approach rate: -0.542990 m/s,
LOS rate: -0.019993 deg/s,
cmd heading: 104.481090 deg,
new cmd heading: 104.464781 deg.
2025-09-20T20:24:56.670Z,1758399896.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.823254 target range: 36.943100 and range: 37.10 m.
2025-09-20T20:24:56.822Z,1758399896.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268705
2025-09-20T20:24:57.073Z,1758399897.073 [DAT](INFO): DAT read: Rx Time:20:24:59.4758
2025-09-20T20:24:57.073Z,1758399897.073 [DAT](INFO): Rx dataTimestamp_ set to:1758399897.072860
2025-09-20T20:24:57.074Z,1758399897.074 [DAT](INFO): DAT read: Bearing 277.8, -9.7 (Local)
2025-09-20T20:24:57.075Z,1758399897.075 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.8, -9.7 (Local)
2025-09-20T20:24:57.077Z,1758399897.077 [DAT](INFO): DAT read: Range 11 to 50 : 35.1 m (trip time 23.4 ms) speed 0.4
2025-09-20T20:24:57.082Z,1758399897.082 [DAT](INFO): DAT read: 20:24:59.4758 LVL= 21984, 26593, 17170, 30659, AGC= 62, IDX= 413,-0.28, 1.564, 0.046, 2.033, 1.520, PHS= 0.146,-1.429, 0.469, RAW= 159.2, 9.3, CAL= 159.0, 9.9, ROT= 351.0, -9.9
2025-09-20T20:24:57.083Z,1758399897.083 [DAT](INFO): got valid direction response:
20:24:59.4758 LVL= 21984, 26593, 17170, 30659, AGC= 62, IDX= 413,-0.28, 1.564, 0.046, 2.033, 1.520, PHS= 0.146,-1.429, 0.469, RAW= 159.2, 9.3, CAL= 159.0, 9.9, ROT= 351.0, -9.9
2025-09-20T20:24:57.083Z,1758399897.083 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:24:57.084Z,1758399897.084 [DAT](INFO): direction in FSK: [0.972981,-0.154105,0.171929]
2025-09-20T20:24:57.084Z,1758399897.085 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:57.093Z,1758399897.093 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.539743
2025-09-20T20:24:57.177Z,1758399897.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 35.099998 m,
deltaT: 2.771243 s,
deltaX: -2.000000 m,
approachRate: -0.721698 m/s,
rangeRepo size: 4
2025-09-20T20:24:57.191Z,1758399897.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.950859 m,
bearing: 99.825190 deg,
lat: 36.779294 deg,
lon: -121.859542 deg,
deltaT: 2.771243 s,
deltaX: -1.992241 m,
approachRate: -0.718898 m/s,
posRepo size: 4
2025-09-20T20:24:57.192Z,1758399897.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.95 m.
2025-09-20T20:24:57.194Z,1758399897.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.950859 m,
nav range: 34.813995 m,
bearing: 99.729112 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.019993 deg/s,
cmd heading: 104.464779 deg,
new cmd heading: 104.444402 deg.
2025-09-20T20:24:57.200Z,1758399897.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822899 target range: 34.950859 and range: 35.10 m.
2025-09-20T20:24:57.325Z,1758399897.325 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.772132
2025-09-20T20:24:57.577Z,1758399897.577 [DAT](INFO): DAT read: Rx Time:20:24:59.9756
2025-09-20T20:24:57.577Z,1758399897.577 [DAT](INFO): Rx dataTimestamp_ set to:1758399897.576802
2025-09-20T20:24:57.578Z,1758399897.578 [DAT](INFO): DAT read: Bearing 277.3, -9.5 (Local)
2025-09-20T20:24:57.579Z,1758399897.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.3, -9.5 (Local)
2025-09-20T20:24:57.581Z,1758399897.581 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (trip time 23.2 ms) speed 0.5
2025-09-20T20:24:57.586Z,1758399897.586 [DAT](INFO): DAT read: 20:24:59.9756 LVL= 21040, 24673, 17890, 30547, AGC= 60, IDX= 506,-0.03, 0.035,-1.497, 0.501,-0.021, PHS= 0.159,-1.430, 0.478, RAW= 159.0, 9.0, CAL= 158.7, 9.5, ROT= 351.3, -9.5
2025-09-20T20:24:57.587Z,1758399897.587 [DAT](INFO): got valid direction response:
20:24:59.9756 LVL= 21040, 24673, 17890, 30547, AGC= 60, IDX= 506,-0.03, 0.035,-1.497, 0.501,-0.021, PHS= 0.159,-1.430, 0.478, RAW= 159.0, 9.0, CAL= 158.7, 9.5, ROT= 351.3, -9.5
2025-09-20T20:24:57.587Z,1758399897.587 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T20:24:57.588Z,1758399897.588 [DAT](INFO): direction in FSK: [0.974937,-0.149187,0.165048]
2025-09-20T20:24:57.588Z,1758399897.588 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:57.598Z,1758399897.598 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.044919
2025-09-20T20:24:57.650Z,1758399897.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.799999 m,
deltaT: 0.503942 s,
deltaX: -0.299999 m,
approachRate: -0.595305 m/s,
rangeRepo size: 4
2025-09-20T20:24:57.661Z,1758399897.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.652134 m,
bearing: 99.976677 deg,
lat: 36.779293 deg,
lon: -121.859542 deg,
deltaT: 0.503942 s,
deltaX: -0.298725 m,
approachRate: -0.592777 m/s,
posRepo size: 4
2025-09-20T20:24:57.661Z,1758399897.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.65 m.
2025-09-20T20:24:57.672Z,1758399897.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.652134 m,
nav range: 34.532787 m,
bearing: 99.875755 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.019993 deg/s,
cmd heading: 104.444405 deg,
new cmd heading: 104.425479 deg.
2025-09-20T20:24:57.673Z,1758399897.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822568 target range: 34.652134 and range: 34.80 m.
2025-09-20T20:24:57.830Z,1758399897.830 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.276468
2025-09-20T20:24:58.021Z,1758399898.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.65 m.
2025-09-20T20:24:58.064Z,1758399898.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.652134 m,
nav range: 34.321529 m,
bearing: 99.870809 deg,
approach rate: -0.571375 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.425478 deg,
new cmd heading: 104.415525 deg.
2025-09-20T20:24:58.065Z,1758399898.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822395 target range: 34.652134 and range: 34.80 m.
2025-09-20T20:24:58.081Z,1758399898.081 [DAT](INFO): DAT read: Rx Time:20:25:00.4753
2025-09-20T20:24:58.081Z,1758399898.081 [DAT](INFO): Rx dataTimestamp_ set to:1758399898.080813
2025-09-20T20:24:58.082Z,1758399898.082 [DAT](INFO): DAT read: Bearing 276.7, -9.2 (Local)
2025-09-20T20:24:58.083Z,1758399898.083 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.7, -9.2 (Local)
2025-09-20T20:24:58.085Z,1758399898.085 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4
2025-09-20T20:24:58.090Z,1758399898.090 [DAT](INFO): DAT read: 20:25:00.4753 LVL= 22960, 26977, 19442, 32755, AGC= 60, IDX= 503, 0.17,-0.220,-1.781, 0.244,-0.295, PHS= 0.176,-1.441, 0.495, RAW= 158.8, 8.6, CAL= 158.5, 9.0, ROT= 351.5, -9.0
2025-09-20T20:24:58.091Z,1758399898.091 [DAT](INFO): got valid direction response:
20:25:00.4753 LVL= 22960, 26977, 19442, 32755, AGC= 60, IDX= 503, 0.17,-0.220,-1.781, 0.244,-0.295, PHS= 0.176,-1.441, 0.495, RAW= 158.8, 8.6, CAL= 158.5, 9.0, ROT= 351.5, -9.0
2025-09-20T20:24:58.091Z,1758399898.091 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-20T20:24:58.092Z,1758399898.092 [DAT](INFO): direction in FSK: [0.976839,-0.145990,0.156434]
2025-09-20T20:24:58.092Z,1758399898.092 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:58.104Z,1758399898.104 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.550859
2025-09-20T20:24:58.334Z,1758399898.334 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.780309
2025-09-20T20:24:58.487Z,1758399898.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.400002 m,
deltaT: 0.504011 s,
deltaX: -0.399998 m,
approachRate: -0.793629 m/s,
rangeRepo size: 4
2025-09-20T20:24:58.489Z,1758399898.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.253254 m,
bearing: 100.031295 deg,
lat: 36.779293 deg,
lon: -121.859545 deg,
deltaT: 0.504011 s,
deltaX: -0.398880 m,
approachRate: -0.791411 m/s,
posRepo size: 4
2025-09-20T20:24:58.490Z,1758399898.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.25 m.
2025-09-20T20:24:58.497Z,1758399898.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.253254 m,
nav range: 33.823990 m,
bearing: 99.945138 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.415527 deg,
new cmd heading: 104.403056 deg.
2025-09-20T20:24:58.498Z,1758399898.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.822177 target range: 34.253254 and range: 34.40 m.
2025-09-20T20:24:58.588Z,1758399898.588 [DAT](INFO): DAT read: Rx Time:20:25:00.9752
2025-09-20T20:24:58.588Z,1758399898.588 [DAT](INFO): Rx dataTimestamp_ set to:1758399898.588037
2025-09-20T20:24:58.590Z,1758399898.590 [DAT](INFO): DAT read: Bearing 276.7, -8.9 (Local)
2025-09-20T20:24:58.590Z,1758399898.590 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.7, -8.9 (Local)
2025-09-20T20:24:58.592Z,1758399898.592 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (trip time 22.8 ms) speed 0.4
2025-09-20T20:24:58.597Z,1758399898.597 [DAT](INFO): DAT read: 20:25:00.9752 LVL= 22672, 25329, 19666, 32755, AGC= 60, IDX= 502, 0.40, 0.441,-1.108, 0.895, 0.366, PHS= 0.177,-1.429, 0.485, RAW= 158.6, 8.7, CAL= 158.3, 9.1, ROT= 351.7, -9.1
2025-09-20T20:24:58.599Z,1758399898.599 [DAT](INFO): got valid direction response:
20:25:00.9752 LVL= 22672, 25329, 19666, 32755, AGC= 60, IDX= 502, 0.40, 0.441,-1.108, 0.895, 0.366, PHS= 0.177,-1.429, 0.485, RAW= 158.6, 8.7, CAL= 158.3, 9.1, ROT= 351.7, -9.1
2025-09-20T20:24:58.627Z,1758399898.627 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-09-20T20:24:58.628Z,1758399898.628 [DAT](INFO): direction in FSK: [0.977071,-0.142539,0.158158]
2025-09-20T20:24:58.628Z,1758399898.628 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:58.640Z,1758399898.640 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.086984
2025-09-20T20:24:58.837Z,1758399898.837 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283089
2025-09-20T20:24:58.933Z,1758399898.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 34.200001 m,
deltaT: 0.507224 s,
deltaX: -0.200001 m,
approachRate: -0.394305 m/s,
rangeRepo size: 4
2025-09-20T20:24:58.935Z,1758399898.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 34.054108 m,
bearing: 100.235130 deg,
lat: 36.779292 deg,
lon: -121.859545 deg,
deltaT: 0.507224 s,
deltaX: -0.199146 m,
approachRate: -0.392620 m/s,
posRepo size: 4
2025-09-20T20:24:58.940Z,1758399898.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.05 m.
2025-09-20T20:24:58.942Z,1758399898.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 34.054108 m,
nav range: 33.557720 m,
bearing: 100.026856 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.403055 deg,
new cmd heading: 104.390954 deg.
2025-09-20T20:24:58.947Z,1758399898.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821966 target range: 34.054108 and range: 34.20 m.
2025-09-20T20:24:59.089Z,1758399899.089 [DAT](INFO): DAT read: Rx Time:20:25:01.4750
2025-09-20T20:24:59.089Z,1758399899.089 [DAT](INFO): Rx dataTimestamp_ set to:1758399899.088882
2025-09-20T20:24:59.090Z,1758399899.090 [DAT](INFO): DAT read: Bearing 277.8, -9.1 (Local)
2025-09-20T20:24:59.091Z,1758399899.091 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.8, -9.1 (Local)
2025-09-20T20:24:59.093Z,1758399899.093 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.6
2025-09-20T20:24:59.098Z,1758399899.098 [DAT](INFO): DAT read: 20:25:01.4750 LVL= 26272, 27745, 22690, 32755, AGC= 62, IDX= 500,-0.31,-2.660, 2.105,-2.210,-2.704, PHS= 0.146,-1.429, 0.449, RAW= 158.6, 9.6, CAL= 158.5, 10.3, ROT= 351.5, -10.3
2025-09-20T20:24:59.099Z,1758399899.099 [DAT](INFO): got valid direction response:
20:25:01.4750 LVL= 26272, 27745, 22690, 32755, AGC= 62, IDX= 500,-0.31,-2.660, 2.105,-2.210,-2.704, PHS= 0.146,-1.429, 0.449, RAW= 158.6, 9.6, CAL= 158.5, 10.3, ROT= 351.5, -10.3
2025-09-20T20:24:59.099Z,1758399899.099 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-09-20T20:24:59.100Z,1758399899.100 [DAT](INFO): direction in FSK: [0.973078,-0.145427,0.178802]
2025-09-20T20:24:59.100Z,1758399899.100 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:59.125Z,1758399899.125 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.571975
2025-09-20T20:24:59.275Z,1758399899.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.799999 m,
deltaT: 0.500845 s,
deltaX: -0.400002 m,
approachRate: -0.798653 m/s,
rangeRepo size: 4
2025-09-20T20:24:59.282Z,1758399899.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.655315 m,
bearing: 99.972703 deg,
lat: 36.779293 deg,
lon: -121.859546 deg,
deltaT: 0.500845 s,
deltaX: -0.398792 m,
approachRate: -0.796239 m/s,
posRepo size: 4
2025-09-20T20:24:59.282Z,1758399899.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m.
2025-09-20T20:24:59.293Z,1758399899.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.655315 m,
nav range: 33.279652 m,
bearing: 99.960200 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.390952 deg,
new cmd heading: 104.381748 deg.
2025-09-20T20:24:59.294Z,1758399899.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821805 target range: 33.655315 and range: 33.80 m.
2025-09-20T20:24:59.341Z,1758399899.341 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.788316
2025-09-20T20:24:59.593Z,1758399899.593 [DAT](INFO): DAT read: Rx Time:20:25:01.9750
2025-09-20T20:24:59.593Z,1758399899.593 [DAT](INFO): Rx dataTimestamp_ set to:1758399899.592749
2025-09-20T20:24:59.594Z,1758399899.594 [DAT](INFO): DAT read: Bearing 277.2, -8.8 (Local)
2025-09-20T20:24:59.595Z,1758399899.595 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.2, -8.8 (Local)
2025-09-20T20:24:59.603Z,1758399899.603 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4
2025-09-20T20:24:59.615Z,1758399899.615 [DAT](INFO): DAT read: 20:25:01.9750 LVL= 20816, 26273, 19026, 32755, AGC= 60, IDX= 499,-0.10,-1.152,-2.665,-0.710,-1.211, PHS= 0.160,-1.409, 0.457, RAW= 158.5, 9.2, CAL= 158.3, 9.7, ROT= 351.7, -9.7
2025-09-20T20:24:59.616Z,1758399899.616 [DAT](INFO): got valid direction response:
20:25:01.9750 LVL= 20816, 26273, 19026, 32755, AGC= 60, IDX= 499,-0.10,-1.152,-2.665,-0.710,-1.211, PHS= 0.160,-1.409, 0.457, RAW= 158.5, 9.2, CAL= 158.3, 9.7, ROT= 351.7, -9.7
2025-09-20T20:24:59.617Z,1758399899.617 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-09-20T20:24:59.617Z,1758399899.617 [DAT](INFO): direction in FSK: [0.975379,-0.142292,0.168489]
2025-09-20T20:24:59.618Z,1758399899.618 [DAT](INFO): publishing direction and range info
2025-09-20T20:24:59.622Z,1758399899.622 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.068405
2025-09-20T20:24:59.764Z,1758399899.764 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:24:59.766Z,1758399899.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.799999 m,
deltaT: 0.503867 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:24:59.773Z,1758399899.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.655315 m,
bearing: 100.147733 deg,
lat: 36.779292 deg,
lon: -121.859545 deg,
deltaT: 0.503867 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:24:59.774Z,1758399899.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.66 m.
2025-09-20T20:24:59.782Z,1758399899.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.655315 m,
nav range: 33.107681 m,
bearing: 100.024090 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.381744 deg,
new cmd heading: 104.368698 deg.
2025-09-20T20:24:59.789Z,1758399899.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821577 target range: 33.655315 and range: 33.80 m.
2025-09-20T20:24:59.845Z,1758399899.845 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.292276
2025-09-20T20:25:00.097Z,1758399900.097 [DAT](INFO): DAT read: Rx Time:20:25:02.4747
2025-09-20T20:25:00.097Z,1758399900.097 [DAT](INFO): Rx dataTimestamp_ set to:1758399900.096869
2025-09-20T20:25:00.098Z,1758399900.098 [DAT](INFO): DAT read: Bearing 276.2, -8.3 (Local)
2025-09-20T20:25:00.099Z,1758399900.099 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.2, -8.3 (Local)
2025-09-20T20:25:00.101Z,1758399900.101 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.4
2025-09-20T20:25:00.106Z,1758399900.106 [DAT](INFO): DAT read: 20:25:02.4747 LVL= 20464, 26225, 18034, 31923, AGC= 60, IDX= 496, 0.07,-1.213,-2.755,-0.774,-1.298, PHS= 0.187,-1.412, 0.481, RAW= 158.3, 8.5, CAL= 157.9, 8.9, ROT= 352.1, -8.9
2025-09-20T20:25:00.107Z,1758399900.107 [DAT](INFO): got valid direction response:
20:25:02.4747 LVL= 20464, 26225, 18034, 31923, AGC= 60, IDX= 496, 0.07,-1.213,-2.755,-0.774,-1.298, PHS= 0.187,-1.412, 0.481, RAW= 158.3, 8.5, CAL= 157.9, 8.9, ROT= 352.1, -8.9
2025-09-20T20:25:00.108Z,1758399900.108 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-09-20T20:25:00.109Z,1758399900.109 [DAT](INFO): direction in FSK: [0.978584,-0.135790,0.154710]
2025-09-20T20:25:00.109Z,1758399900.109 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:00.113Z,1758399900.113 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.559416
2025-09-20T20:25:00.209Z,1758399900.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.299999 m,
deltaT: 0.504120 s,
deltaX: -0.500000 m,
approachRate: -0.991827 m/s,
rangeRepo size: 4
2025-09-20T20:25:00.211Z,1758399900.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.157143 m,
bearing: 100.357277 deg,
lat: 36.779292 deg,
lon: -121.859545 deg,
deltaT: 0.504120 s,
deltaX: -0.498173 m,
approachRate: -0.988203 m/s,
posRepo size: 4
2025-09-20T20:25:00.216Z,1758399900.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.16 m.
2025-09-20T20:25:00.218Z,1758399900.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.157143 m,
nav range: 32.878567 m,
bearing: 100.163178 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.368699 deg,
new cmd heading: 104.356600 deg.
2025-09-20T20:25:00.223Z,1758399900.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821366 target range: 33.157143 and range: 33.30 m.
2025-09-20T20:25:00.348Z,1758399900.348 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795183
2025-09-20T20:25:00.601Z,1758399900.601 [DAT](INFO): DAT read: Rx Time:20:25:02.9746
2025-09-20T20:25:00.601Z,1758399900.601 [DAT](INFO): Rx dataTimestamp_ set to:1758399900.601108
2025-09-20T20:25:00.603Z,1758399900.603 [DAT](INFO): DAT read: Bearing 276.5, -8.1 (Local)
2025-09-20T20:25:00.603Z,1758399900.603 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.5, -8.1 (Local)
2025-09-20T20:25:00.605Z,1758399900.605 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4
2025-09-20T20:25:00.610Z,1758399900.610 [DAT](INFO): DAT read: 20:25:02.9746 LVL= 23184, 26705, 20642, 32755, AGC= 60, IDX= 511, 0.28, 0.548,-1.007, 0.984, 0.466, PHS= 0.184,-1.428, 0.474, RAW= 158.1, 8.7, CAL= 157.8, 9.2, ROT= 352.2, -9.2
2025-09-20T20:25:00.611Z,1758399900.611 [DAT](INFO): got valid direction response:
20:25:02.9746 LVL= 23184, 26705, 20642, 32755, AGC= 60, IDX= 511, 0.28, 0.548,-1.007, 0.984, 0.466, PHS= 0.184,-1.428, 0.474, RAW= 158.1, 8.7, CAL= 157.8, 9.2, ROT= 352.2, -9.2
2025-09-20T20:25:00.611Z,1758399900.611 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-09-20T20:25:00.612Z,1758399900.612 [DAT](INFO): direction in FSK: [0.978003,-0.133969,0.159881]
2025-09-20T20:25:00.612Z,1758399900.612 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:00.624Z,1758399900.624 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.071040
2025-09-20T20:25:00.665Z,1758399900.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 33.200001 m,
deltaT: 0.504239 s,
deltaX: -0.099998 m,
approachRate: -0.198316 m/s,
rangeRepo size: 4
2025-09-20T20:25:00.684Z,1758399900.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 33.057575 m,
bearing: 100.374130 deg,
lat: 36.779291 deg,
lon: -121.859546 deg,
deltaT: 0.504239 s,
deltaX: -0.099567 m,
approachRate: -0.197461 m/s,
posRepo size: 4
2025-09-20T20:25:00.685Z,1758399900.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.06 m.
2025-09-20T20:25:00.692Z,1758399900.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.057575 m,
nav range: 32.604210 m,
bearing: 100.260779 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.013460 deg/s,
cmd heading: 104.356603 deg,
new cmd heading: 104.344326 deg.
2025-09-20T20:25:00.693Z,1758399900.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.821152 target range: 33.057575 and range: 33.20 m.
2025-09-20T20:25:00.768Z,1758399900.768 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:25:00.852Z,1758399900.852 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299063
2025-09-20T20:25:01.086Z,1758399901.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:01.089Z,1758399901.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.06 m.
2025-09-20T20:25:01.091Z,1758399901.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 33.057575 m,
nav range: 32.360443 m,
bearing: 100.252258 deg,
approach rate: -0.574270 m/s,
LOS rate: -0.020226 deg/s,
cmd heading: 104.344329 deg,
new cmd heading: 104.327158 deg.
2025-09-20T20:25:01.092Z,1758399901.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.820852 target range: 33.057575 and range: 33.20 m.
2025-09-20T20:25:01.105Z,1758399901.105 [DAT](INFO): DAT read: Rx Time:20:25:03.4743
2025-09-20T20:25:01.105Z,1758399901.105 [DAT](INFO): Rx dataTimestamp_ set to:1758399901.104822
2025-09-20T20:25:01.110Z,1758399901.110 [DAT](INFO): DAT read: Bearing 276.8, -8.2 (Local)
2025-09-20T20:25:01.112Z,1758399901.112 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.8, -8.2 (Local)
2025-09-20T20:25:01.114Z,1758399901.114 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.6
2025-09-20T20:25:01.118Z,1758399901.118 [DAT](INFO): DAT read: 20:25:03.4743 LVL= 23280, 25169, 20002, 32755, AGC= 60, IDX= 509,-0.34,-2.603, 2.143,-2.166,-2.674, PHS= 0.173,-1.421, 0.464, RAW= 158.2, 9.0, CAL= 158.0, 9.5, ROT= 352.0, -9.5
2025-09-20T20:25:01.139Z,1758399901.139 [DAT](INFO): got valid direction response:
20:25:03.4743 LVL= 23280, 25169, 20002, 32755, AGC= 60, IDX= 509,-0.34,-2.603, 2.143,-2.166,-2.674, PHS= 0.173,-1.421, 0.464, RAW= 158.2, 9.0, CAL= 158.0, 9.5, ROT= 352.0, -9.5
2025-09-20T20:25:01.140Z,1758399901.140 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-09-20T20:25:01.141Z,1758399901.141 [DAT](INFO): direction in FSK: [0.976687,-0.137264,0.165048]
2025-09-20T20:25:01.141Z,1758399901.141 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:01.154Z,1758399901.154 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.600660
2025-09-20T20:25:01.356Z,1758399901.356 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802902
2025-09-20T20:25:01.597Z,1758399901.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.700001 m,
deltaT: 0.503714 s,
deltaX: -0.500000 m,
approachRate: -0.992627 m/s,
rangeRepo size: 4
2025-09-20T20:25:01.599Z,1758399901.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.559662 m,
bearing: 99.986611 deg,
lat: 36.779292 deg,
lon: -121.859546 deg,
deltaT: 0.503714 s,
deltaX: -0.497913 m,
approachRate: -0.988484 m/s,
posRepo size: 4
2025-09-20T20:25:01.600Z,1758399901.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.56 m.
2025-09-20T20:25:01.603Z,1758399901.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.559662 m,
nav range: 32.080296 m,
bearing: 100.141544 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020226 deg/s,
cmd heading: 104.327158 deg,
new cmd heading: 104.306613 deg.
2025-09-20T20:25:01.604Z,1758399901.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.820494 target range: 32.559662 and range: 32.70 m.
2025-09-20T20:25:01.609Z,1758399901.609 [DAT](INFO): DAT read: Rx Time:20:25:03.9742
2025-09-20T20:25:01.609Z,1758399901.609 [DAT](INFO): Rx dataTimestamp_ set to:1758399901.608911
2025-09-20T20:25:01.610Z,1758399901.610 [DAT](INFO): DAT read: Bearing 276.5, -7.9 (Local)
2025-09-20T20:25:01.611Z,1758399901.611 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.5, -7.9 (Local)
2025-09-20T20:25:01.613Z,1758399901.613 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4
2025-09-20T20:25:01.618Z,1758399901.618 [DAT](INFO): DAT read: 20:25:03.9742 LVL= 24368, 25697, 19762, 32755, AGC= 60, IDX= 507,-0.09,-2.231, 2.518,-1.801,-2.309, PHS= 0.179,-1.412, 0.463, RAW= 158.1, 8.8, CAL= 157.8, 9.3, ROT= 352.2, -9.3
2025-09-20T20:25:01.619Z,1758399901.619 [DAT](INFO): got valid direction response:
20:25:03.9742 LVL= 24368, 25697, 19762, 32755, AGC= 60, IDX= 507,-0.09,-2.231, 2.518,-1.801,-2.309, PHS= 0.179,-1.412, 0.463, RAW= 158.1, 8.8, CAL= 157.8, 9.3, ROT= 352.2, -9.3
2025-09-20T20:25:01.619Z,1758399901.619 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-09-20T20:25:01.620Z,1758399901.620 [DAT](INFO): direction in FSK: [0.977725,-0.133931,0.161604]
2025-09-20T20:25:01.620Z,1758399901.620 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:01.640Z,1758399901.640 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.086874
2025-09-20T20:25:01.860Z,1758399901.860 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307007
2025-09-20T20:25:01.991Z,1758399901.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.599998 m,
deltaT: 0.504089 s,
deltaX: -0.100002 m,
approachRate: -0.198382 m/s,
rangeRepo size: 4
2025-09-20T20:25:02.032Z,1758399902.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 32.460087 m,
bearing: 99.994735 deg,
lat: 36.779292 deg,
lon: -121.859545 deg,
deltaT: 0.504089 s,
deltaX: -0.099575 m,
approachRate: -0.197535 m/s,
posRepo size: 4
2025-09-20T20:25:02.039Z,1758399902.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.46 m.
2025-09-20T20:25:02.056Z,1758399902.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 32.460087 m,
nav range: 31.901251 m,
bearing: 100.118842 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020226 deg/s,
cmd heading: 104.306612 deg,
new cmd heading: 104.290691 deg.
2025-09-20T20:25:02.056Z,1758399902.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.820216 target range: 32.460087 and range: 32.60 m.
2025-09-20T20:25:02.114Z,1758399902.114 [DAT](INFO): DAT read: Rx Time:20:25:04.4739
2025-09-20T20:25:02.115Z,1758399902.115 [DAT](INFO): Rx dataTimestamp_ set to:1758399902.114234
2025-09-20T20:25:02.117Z,1758399902.117 [DAT](INFO): DAT read: Bearing 276.4, -7.9 (Local)
2025-09-20T20:25:02.117Z,1758399902.117 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.4, -7.9 (Local)
2025-09-20T20:25:02.120Z,1758399902.120 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.4
2025-09-20T20:25:02.126Z,1758399902.126 [DAT](INFO): DAT read: 20:25:04.4739 LVL= 23776, 25681, 20658, 32755, AGC= 61, IDX= 504, 0.15,-2.076, 2.639,-1.639,-2.159, PHS= 0.185,-1.440, 0.476, RAW= 158.1, 8.8, CAL= 157.8, 9.2, ROT= 352.2, -9.2
2025-09-20T20:25:02.128Z,1758399902.128 [DAT](INFO): got valid direction response:
20:25:04.4739 LVL= 23776, 25681, 20658, 32755, AGC= 61, IDX= 504, 0.15,-2.076, 2.639,-1.639,-2.159, PHS= 0.185,-1.440, 0.476, RAW= 158.1, 8.8, CAL= 157.8, 9.2, ROT= 352.2, -9.2
2025-09-20T20:25:02.128Z,1758399902.128 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-09-20T20:25:02.129Z,1758399902.129 [DAT](INFO): direction in FSK: [0.978003,-0.133969,0.159881]
2025-09-20T20:25:02.129Z,1758399902.129 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:02.133Z,1758399902.133 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.579709
2025-09-20T20:25:02.364Z,1758399902.364 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810947
2025-09-20T20:25:02.397Z,1758399902.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.099998 m,
deltaT: 0.505323 s,
deltaX: -0.500000 m,
approachRate: -0.989466 m/s,
rangeRepo size: 4
2025-09-20T20:25:02.399Z,1758399902.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.962250 m,
bearing: 99.898613 deg,
lat: 36.779292 deg,
lon: -121.859546 deg,
deltaT: 0.505323 s,
deltaX: -0.497837 m,
approachRate: -0.985186 m/s,
posRepo size: 4
2025-09-20T20:25:02.400Z,1758399902.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.96 m.
2025-09-20T20:25:02.403Z,1758399902.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.962250 m,
nav range: 31.641451 m,
bearing: 100.023171 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020226 deg/s,
cmd heading: 104.290691 deg,
new cmd heading: 104.274264 deg.
2025-09-20T20:25:02.404Z,1758399902.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819929 target range: 31.962250 and range: 32.10 m.
2025-09-20T20:25:02.616Z,1758399902.616 [DAT](INFO): DAT read: Rx Time:20:25:04.9738
2025-09-20T20:25:02.617Z,1758399902.617 [DAT](INFO): Rx dataTimestamp_ set to:1758399902.616681
2025-09-20T20:25:02.618Z,1758399902.618 [DAT](INFO): DAT read: Bearing 276.4, -8.0 (Local)
2025-09-20T20:25:02.619Z,1758399902.619 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.4, -8.0 (Local)
2025-09-20T20:25:02.621Z,1758399902.621 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.4
2025-09-20T20:25:02.625Z,1758399902.625 [DAT](INFO): DAT read: 20:25:04.9738 LVL= 25072, 25393, 21538, 32755, AGC= 61, IDX= 504,-0.50,-2.140, 2.590,-1.703,-2.218, PHS= 0.180,-1.430, 0.471, RAW= 158.2, 8.8, CAL= 157.9, 9.3, ROT= 352.1, -9.3
2025-09-20T20:25:02.626Z,1758399902.626 [DAT](INFO): got valid direction response:
20:25:04.9738 LVL= 25072, 25393, 21538, 32755, AGC= 61, IDX= 504,-0.50,-2.140, 2.590,-1.703,-2.218, PHS= 0.180,-1.430, 0.471, RAW= 158.2, 8.8, CAL= 157.9, 9.3, ROT= 352.1, -9.3
2025-09-20T20:25:02.627Z,1758399902.627 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-09-20T20:25:02.628Z,1758399902.628 [DAT](INFO): direction in FSK: [0.977490,-0.135638,0.161604]
2025-09-20T20:25:02.628Z,1758399902.628 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:02.631Z,1758399902.631 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.078276
2025-09-20T20:25:02.856Z,1758399902.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 32.000000 m,
deltaT: 0.502447 s,
deltaX: -0.099998 m,
approachRate: -0.199023 m/s,
rangeRepo size: 4
2025-09-20T20:25:02.858Z,1758399902.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.862680 m,
bearing: 99.737220 deg,
lat: 36.779292 deg,
lon: -121.859545 deg,
deltaT: 0.502447 s,
deltaX: -0.099569 m,
approachRate: -0.198169 m/s,
posRepo size: 4
2025-09-20T20:25:02.863Z,1758399902.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.86 m.
2025-09-20T20:25:02.866Z,1758399902.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.862680 m,
nav range: 31.424833 m,
bearing: 99.942592 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020226 deg/s,
cmd heading: 104.274265 deg,
new cmd heading: 104.255669 deg.
2025-09-20T20:25:02.868Z,1758399902.868 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315258
2025-09-20T20:25:02.871Z,1758399902.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819605 target range: 31.862680 and range: 32.00 m.
2025-09-20T20:25:03.122Z,1758399903.122 [DAT](INFO): DAT read: Rx Time:20:25:05.4736
2025-09-20T20:25:03.123Z,1758399903.123 [DAT](INFO): Rx dataTimestamp_ set to:1758399903.122240
2025-09-20T20:25:03.125Z,1758399903.125 [DAT](INFO): DAT read: Bearing 276.5, -7.7 (Local)
2025-09-20T20:25:03.125Z,1758399903.125 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.5, -7.7 (Local)
2025-09-20T20:25:03.128Z,1758399903.128 [DAT](INFO): DAT read: Range 11 to 50 : 31.7 m (trip time 21.1 ms) speed 0.4
2025-09-20T20:25:03.134Z,1758399903.134 [DAT](INFO): DAT read: 20:25:05.4736 LVL= 24336, 26145, 20530, 32755, AGC= 60, IDX= 501,-0.11, 2.715, 1.158,-3.141, 2.636, PHS= 0.182,-1.432, 0.463, RAW= 157.9, 8.9, CAL= 157.6, 9.5, ROT= 352.4, -9.5
2025-09-20T20:25:03.160Z,1758399903.160 [DAT](INFO): got valid direction response:
20:25:05.4736 LVL= 24336, 26145, 20530, 32755, AGC= 60, IDX= 501,-0.11, 2.715, 1.158,-3.141, 2.636, PHS= 0.182,-1.432, 0.463, RAW= 157.9, 8.9, CAL= 157.6, 9.5, ROT= 352.4, -9.5
2025-09-20T20:25:03.161Z,1758399903.161 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-09-20T20:25:03.162Z,1758399903.162 [DAT](INFO): direction in FSK: [0.977622,-0.130443,0.165048]
2025-09-20T20:25:03.162Z,1758399903.162 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:03.183Z,1758399903.183 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.629448
2025-09-20T20:25:03.265Z,1758399903.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.700001 m,
deltaT: 0.505559 s,
deltaX: -0.299999 m,
approachRate: -0.593401 m/s,
rangeRepo size: 4
2025-09-20T20:25:03.271Z,1758399903.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.564119 m,
bearing: 99.966595 deg,
lat: 36.779292 deg,
lon: -121.859545 deg,
deltaT: 0.505559 s,
deltaX: -0.298561 m,
approachRate: -0.590556 m/s,
posRepo size: 4
2025-09-20T20:25:03.272Z,1758399903.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m.
2025-09-20T20:25:03.274Z,1758399903.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.564119 m,
nav range: 31.212341 m,
bearing: 99.928348 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.020226 deg/s,
cmd heading: 104.255666 deg,
new cmd heading: 104.239146 deg.
2025-09-20T20:25:03.280Z,1758399903.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.819316 target range: 31.564119 and range: 31.70 m.
2025-09-20T20:25:03.372Z,1758399903.372 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818964
2025-09-20T20:25:03.625Z,1758399903.625 [DAT](INFO): DAT read: Rx Time:20:25:05.9735
2025-09-20T20:25:03.625Z,1758399903.625 [DAT](INFO): Rx dataTimestamp_ set to:1758399903.624768
2025-09-20T20:25:03.626Z,1758399903.626 [DAT](INFO): DAT read: Bearing 275.9, -7.4 (Local)
2025-09-20T20:25:03.627Z,1758399903.627 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.9, -7.4 (Local)
2025-09-20T20:25:03.629Z,1758399903.629 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.4
2025-09-20T20:25:03.633Z,1758399903.633 [DAT](INFO): DAT read: 20:25:05.9735 LVL= 20496, 25665, 18626, 31987, AGC= 59, IDX= 500, 0.20,-1.086,-2.650,-0.663,-1.182, PHS= 0.23, 0.475, RAW= 157.7, 8.5, CAL= 157.4, 8.9, ROT= 352.6, -8.9
2025-09-20T20:25:03.634Z,1758399903.634 [DAT](INFO): unknown deviceResponse_: 20:25:05.9735 LVL= 20496, 25665, 18626, 31987, AGC= 59, IDX= 500, 0.20,-1.086,-2.650,-0.663,-1.182, PHS= 0.23, 0.475, RAW= 157.7, 8.5, CAL= 157.4, 8.9, ROT= 352.6, -8.9
2025-09-20T20:25:03.635Z,1758399903.635 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-09-20T20:25:03.636Z,1758399903.636 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.082413
2025-09-20T20:25:03.664Z,1758399903.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:03.667Z,1758399903.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.500000 m,
deltaT: 0.502528 s,
deltaX: -0.200001 m,
approachRate: -0.397989 m/s,
rangeRepo size: 4
2025-09-20T20:25:03.688Z,1758399903.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m.
2025-09-20T20:25:03.690Z,1758399903.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.564119 m,
nav range: 30.993021 m,
bearing: 99.912592 deg,
approach rate: -0.545910 m/s,
LOS rate: -0.039496 deg/s,
cmd heading: 104.239144 deg,
new cmd heading: 104.207409 deg.
2025-09-20T20:25:03.699Z,1758399903.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818762 target range: 31.564119 and range: 31.50 m.
2025-09-20T20:25:03.876Z,1758399903.876 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322987
2025-09-20T20:25:04.084Z,1758399904.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.56 m.
2025-09-20T20:25:04.087Z,1758399904.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.564119 m,
nav range: 30.775270 m,
bearing: 99.897734 deg,
approach rate: -0.521040 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.207411 deg,
new cmd heading: 104.177484 deg.
2025-09-20T20:25:04.092Z,1758399904.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.818240 target range: 31.564119 and range: 31.50 m.
2025-09-20T20:25:04.129Z,1758399904.129 [DAT](INFO): DAT read: Rx Time:20:25:06.4732
2025-09-20T20:25:04.129Z,1758399904.129 [DAT](INFO): Rx dataTimestamp_ set to:1758399904.128869
2025-09-20T20:25:04.130Z,1758399904.130 [DAT](INFO): DAT read: Bearing 276.4, -7.7 (Local)
2025-09-20T20:25:04.131Z,1758399904.131 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.4, -7.7 (Local)
2025-09-20T20:25:04.133Z,1758399904.133 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4
2025-09-20T20:25:04.140Z,1758399904.140 [DAT](INFO): DAT read: 20:25:06.4732 LVL= 21872, 25377, 17746, 32211, AGC= 59, IDX= 498,-0.37, 2.647, 1.095, 3.076, 2.567, PHS= 0.181,-1.428, 0.465, RAW= 158.0, 8.9, CAL= 157.7, 9.4, ROT= 352.3, -9.4
2025-09-20T20:25:04.142Z,1758399904.142 [DAT](INFO): got valid direction response:
20:25:06.4732 LVL= 21872, 25377, 17746, 32211, AGC= 59, IDX= 498,-0.37, 2.647, 1.095, 3.076, 2.567, PHS= 0.181,-1.428, 0.465, RAW= 158.0, 8.9, CAL= 157.7, 9.4, ROT= 352.3, -9.4
2025-09-20T20:25:04.142Z,1758399904.142 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-09-20T20:25:04.156Z,1758399904.156 [DAT](INFO): direction in FSK: [0.977676,-0.132187,0.163326]
2025-09-20T20:25:04.156Z,1758399904.156 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:04.165Z,1758399904.165 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.611949
2025-09-20T20:25:04.380Z,1758399904.380 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827113
2025-09-20T20:25:04.435Z,1758399904.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.504101 s,
deltaX: -0.299999 m,
approachRate: -0.595117 m/s,
rangeRepo size: 4
2025-09-20T20:25:04.437Z,1758399904.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.066940 m,
bearing: 99.604187 deg,
lat: 36.779293 deg,
lon: -121.859545 deg,
deltaT: 1.006629 s,
deltaX: -0.497179 m,
approachRate: -0.493905 m/s,
posRepo size: 4
2025-09-20T20:25:04.438Z,1758399904.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m.
2025-09-20T20:25:04.440Z,1758399904.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.066940 m,
nav range: 30.586380 m,
bearing: 99.787173 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.177481 deg,
new cmd heading: 104.152405 deg.
2025-09-20T20:25:04.441Z,1758399904.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817802 target range: 31.066940 and range: 31.20 m.
2025-09-20T20:25:04.633Z,1758399904.633 [DAT](INFO): DAT read: Rx Time:20:25:06.9732
2025-09-20T20:25:04.634Z,1758399904.634 [DAT](INFO): Rx dataTimestamp_ set to:1758399904.633563
2025-09-20T20:25:04.636Z,1758399904.636 [DAT](INFO): DAT read: Bearing 255.7, -17.2 (Local)
2025-09-20T20:25:04.636Z,1758399904.636 [DAT](INFO): Local bearing/azimuth received:
Bearing 255.7, -17.2 (Local)
2025-09-20T20:25:04.640Z,1758399904.640 [DAT](INFO): DAT read: Range 11 to 50 : 31.2 m (trip time 20.8 ms) speed 0.4
2025-09-20T20:25:04.645Z,1758399904.645 [DAT](INFO): DAT read: 20:25:06.9732 LVL= 21104, 25425, 16738, 31187, AGC= 59, IDX= 513,-0.02,-1.102,-2.356,-0.374,-1.484, PHS= 0.485,-0.827, 1.066, RAW= 167.4, -8.7, CAL= 168.2, -10.3, ROT= 341.8, 10.3
2025-09-20T20:25:04.646Z,1758399904.646 [DAT](INFO): got valid direction response:
20:25:06.9732 LVL= 21104, 25425, 16738, 31187, AGC= 59, IDX= 513,-0.02,-1.102,-2.356,-0.374,-1.484, PHS= 0.485,-0.827, 1.066, RAW= 167.4, -8.7, CAL= 168.2, -10.3, ROT= 341.8, 10.3
2025-09-20T20:25:04.646Z,1758399904.646 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-20T20:25:04.649Z,1758399904.649 [DAT](INFO): direction in FSK: [0.934663,-0.307302,-0.178802]
2025-09-20T20:25:04.649Z,1758399904.649 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:04.661Z,1758399904.661 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.107844
2025-09-20T20:25:04.872Z,1758399904.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 31.200001 m,
deltaT: 0.504694 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:04.874Z,1758399904.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 31.066940 m,
bearing: 88.347873 deg,
lat: 36.779293 deg,
lon: -121.859545 deg,
deltaT: 0.504694 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:04.875Z,1758399904.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.07 m.
2025-09-20T20:25:04.877Z,1758399904.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 31.066940 m,
nav range: 30.338428 m,
bearing: 99.658915 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.152407 deg,
new cmd heading: 104.121107 deg.
2025-09-20T20:25:04.878Z,1758399904.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817256 target range: 31.066940 and range: 31.20 m.
2025-09-20T20:25:04.884Z,1758399904.884 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.330955
2025-09-20T20:25:05.137Z,1758399905.137 [DAT](INFO): DAT read: Rx Time:20:25:07.4729
2025-09-20T20:25:05.137Z,1758399905.137 [DAT](INFO): Rx dataTimestamp_ set to:1758399905.136789
2025-09-20T20:25:05.138Z,1758399905.138 [DAT](INFO): DAT read: Bearing 275.8, -7.0 (Local)
2025-09-20T20:25:05.139Z,1758399905.139 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -7.0 (Local)
2025-09-20T20:25:05.141Z,1758399905.141 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.4
2025-09-20T20:25:05.145Z,1758399905.145 [DAT](INFO): DAT read: 20:25:07.4729 LVL= 22128, 23937, 17986, 31859, AGC= 60, IDX= 510, 0.26,-1.248,-2.830,-0.829,-1.352, PHS= 0.205,-1.433, 0.479, RAW= 157.6, 8.4, CAL= 157.2, 8.8, ROT= 352.8, -8.8
2025-09-20T20:25:05.147Z,1758399905.147 [DAT](INFO): got valid direction response:
20:25:07.4729 LVL= 22128, 23937, 17986, 31859, AGC= 60, IDX= 510, 0.26,-1.248,-2.830,-0.829,-1.352, PHS= 0.205,-1.433, 0.479, RAW= 157.6, 8.4, CAL= 157.2, 8.8, ROT= 352.8, -8.8
2025-09-20T20:25:05.148Z,1758399905.148 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-20T20:25:05.149Z,1758399905.149 [DAT](INFO): direction in FSK: [0.980436,-0.123858,0.152986]
2025-09-20T20:25:05.149Z,1758399905.149 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:05.152Z,1758399905.152 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.599348
2025-09-20T20:25:05.280Z,1758399905.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.799999 m,
deltaT: 0.503226 s,
deltaX: -0.400002 m,
approachRate: -0.794875 m/s,
rangeRepo size: 4
2025-09-20T20:25:05.282Z,1758399905.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.669243 m,
bearing: 99.939614 deg,
lat: 36.779293 deg,
lon: -121.859545 deg,
deltaT: 0.503226 s,
deltaX: -0.397697 m,
approachRate: -0.790296 m/s,
posRepo size: 4
2025-09-20T20:25:05.287Z,1758399905.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.67 m.
2025-09-20T20:25:05.290Z,1758399905.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.669243 m,
nav range: 30.173943 m,
bearing: 99.630421 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.121104 deg,
new cmd heading: 104.092165 deg.
2025-09-20T20:25:05.291Z,1758399905.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816751 target range: 30.669243 and range: 30.80 m.
2025-09-20T20:25:05.388Z,1758399905.388 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835120
2025-09-20T20:25:05.641Z,1758399905.641 [DAT](INFO): DAT read: Rx Time:20:25:07.9728
2025-09-20T20:25:05.641Z,1758399905.641 [DAT](INFO): Rx dataTimestamp_ set to:1758399905.640786
2025-09-20T20:25:05.642Z,1758399905.642 [DAT](INFO): DAT read: Bearing 275.9, -7.2 (Local)
2025-09-20T20:25:05.643Z,1758399905.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.9, -7.2 (Local)
2025-09-20T20:25:05.645Z,1758399905.645 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.4
2025-09-20T20:25:05.650Z,1758399905.649 [DAT](INFO): DAT read: 20:25:07.9728 LVL= 18272, 25937, 15202, 29939, AGC= 58, IDX= 509,-0.23, 3.140, 1.602,-2.726, 3.049, PHS= 0.193,-1.402, 0.464, RAW= 157.7, 8.6, CAL= 157.4, 9.0, ROT= 352.6, -9.0
2025-09-20T20:25:05.651Z,1758399905.651 [DAT](INFO): got valid direction response:
20:25:07.9728 LVL= 18272, 25937, 15202, 29939, AGC= 58, IDX= 509,-0.23, 3.140, 1.602,-2.726, 3.049, PHS= 0.193,-1.402, 0.464, RAW= 157.7, 8.6, CAL= 157.4, 9.0, ROT= 352.6, -9.0
2025-09-20T20:25:05.651Z,1758399905.651 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-20T20:25:05.652Z,1758399905.652 [DAT](INFO): direction in FSK: [0.979462,-0.127210,0.156434]
2025-09-20T20:25:05.652Z,1758399905.652 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:05.660Z,1758399905.660 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.106750
2025-09-20T20:25:05.785Z,1758399905.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.600000 m,
deltaT: 0.503997 s,
deltaX: -0.199999 m,
approachRate: -0.396825 m/s,
rangeRepo size: 4
2025-09-20T20:25:05.793Z,1758399905.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.470093 m,
bearing: 99.746800 deg,
lat: 36.779293 deg,
lon: -121.859544 deg,
deltaT: 0.503997 s,
deltaX: -0.199150 m,
approachRate: -0.395141 m/s,
posRepo size: 4
2025-09-20T20:25:05.794Z,1758399905.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.47 m.
2025-09-20T20:25:05.808Z,1758399905.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.470093 m,
nav range: 29.988512 m,
bearing: 99.767477 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.092165 deg,
new cmd heading: 104.055774 deg.
2025-09-20T20:25:05.810Z,1758399905.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816116 target range: 30.470093 and range: 30.60 m.
2025-09-20T20:25:05.893Z,1758399905.893 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339521
2025-09-20T20:25:06.145Z,1758399906.145 [DAT](INFO): DAT read: Rx Time:20:25:08.4725
2025-09-20T20:25:06.145Z,1758399906.145 [DAT](INFO): Rx dataTimestamp_ set to:1758399906.145013
2025-09-20T20:25:06.147Z,1758399906.147 [DAT](INFO): DAT read: Bearing 275.8, -6.8 (Local)
2025-09-20T20:25:06.147Z,1758399906.147 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -6.8 (Local)
2025-09-20T20:25:06.149Z,1758399906.149 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.4
2025-09-20T20:25:06.154Z,1758399906.154 [DAT](INFO): DAT read: 20:25:08.4725 LVL= 18704, 24817, 16306, 30195, AGC= 58, IDX= 506, 0.06,-2.094, 2.626,-1.683,-2.196, PHS= 0.204,-1.417, 0.469, RAW= 157.5, 8.5, CAL= 157.1, 8.9, ROT= 352.9, -8.9
2025-09-20T20:25:06.155Z,1758399906.155 [DAT](INFO): got valid direction response:
20:25:08.4725 LVL= 18704, 24817, 16306, 30195, AGC= 58, IDX= 506, 0.06,-2.094, 2.626,-1.683,-2.196, PHS= 0.204,-1.417, 0.469, RAW= 157.5, 8.5, CAL= 157.1, 8.9, ROT= 352.9, -8.9
2025-09-20T20:25:06.155Z,1758399906.155 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-09-20T20:25:06.156Z,1758399906.156 [DAT](INFO): direction in FSK: [0.980384,-0.122113,0.154710]
2025-09-20T20:25:06.156Z,1758399906.156 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:06.164Z,1758399906.164 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.611019
2025-09-20T20:25:06.248Z,1758399906.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.200001 m,
deltaT: 0.504227 s,
deltaX: -0.400000 m,
approachRate: -0.793293 m/s,
rangeRepo size: 4
2025-09-20T20:25:06.250Z,1758399906.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 30.072010 m,
bearing: 99.951620 deg,
lat: 36.779293 deg,
lon: -121.859544 deg,
deltaT: 0.504227 s,
deltaX: -0.398083 m,
approachRate: -0.789491 m/s,
posRepo size: 4
2025-09-20T20:25:06.259Z,1758399906.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.07 m.
2025-09-20T20:25:06.262Z,1758399906.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 30.072010 m,
nav range: 29.728390 m,
bearing: 99.760117 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.055774 deg,
new cmd heading: 104.022855 deg.
2025-09-20T20:25:06.267Z,1758399906.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815541 target range: 30.072010 and range: 30.20 m.
2025-09-20T20:25:06.396Z,1758399906.396 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.843097
2025-09-20T20:25:06.649Z,1758399906.649 [DAT](INFO): DAT read: Rx Time:20:25:08.9724
2025-09-20T20:25:06.649Z,1758399906.649 [DAT](INFO): Rx dataTimestamp_ set to:1758399906.649000
2025-09-20T20:25:06.651Z,1758399906.651 [DAT](INFO): DAT read: Bearing 275.4, -6.8 (Local)
2025-09-20T20:25:06.651Z,1758399906.651 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.4, -6.8 (Local)
2025-09-20T20:25:06.653Z,1758399906.653 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.4
2025-09-20T20:25:06.658Z,1758399906.658 [DAT](INFO): DAT read: 20:25:08.9724 LVL= 23104, 25329, 18146, 32355, AGC= 60, IDX= 505, 0.40,-0.833,-2.408,-0.420,-0.944, PHS= 0.213,-1.419, 0.480, RAW= 157.5, 8.2, CAL= 157.1, 8.6, ROT= 352.9, -8.6
2025-09-20T20:25:06.659Z,1758399906.659 [DAT](INFO): got valid direction response:
20:25:08.9724 LVL= 23104, 25329, 18146, 32355, AGC= 60, IDX= 505, 0.40,-0.833,-2.408,-0.420,-0.944, PHS= 0.213,-1.419, 0.480, RAW= 157.5, 8.2, CAL= 157.1, 8.6, ROT= 352.9, -8.6
2025-09-20T20:25:06.659Z,1758399906.659 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-09-20T20:25:06.660Z,1758399906.660 [DAT](INFO): direction in FSK: [0.981175,-0.122212,0.149535]
2025-09-20T20:25:06.661Z,1758399906.661 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:06.664Z,1758399906.664 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.111096
2025-09-20T20:25:06.696Z,1758399906.696 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3276,-32768,V
2025-09-20T20:25:06.780Z,1758399906.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 30.000000 m,
deltaT: 0.503987 s,
deltaX: -0.200001 m,
approachRate: -0.396837 m/s,
rangeRepo size: 4
2025-09-20T20:25:06.782Z,1758399906.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.872856 m,
bearing: 99.896299 deg,
lat: 36.779292 deg,
lon: -121.859544 deg,
deltaT: 0.503987 s,
deltaX: -0.199154 m,
approachRate: -0.395157 m/s,
posRepo size: 4
2025-09-20T20:25:06.793Z,1758399906.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.87 m.
2025-09-20T20:25:06.803Z,1758399906.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.872856 m,
nav range: 29.489346 m,
bearing: 99.896199 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 104.022852 deg,
new cmd heading: 103.985129 deg.
2025-09-20T20:25:06.805Z,1758399906.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814883 target range: 29.872856 and range: 30.00 m.
2025-09-20T20:25:06.901Z,1758399906.901 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.347763
2025-09-20T20:25:07.153Z,1758399907.153 [DAT](INFO): DAT read: Rx Time:20:25:09.4722
2025-09-20T20:25:07.153Z,1758399907.153 [DAT](INFO): Rx dataTimestamp_ set to:1758399907.152822
2025-09-20T20:25:07.154Z,1758399907.154 [DAT](INFO): DAT read: Bearing 276.4, -7.2 (Local)
2025-09-20T20:25:07.155Z,1758399907.155 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.4, -7.2 (Local)
2025-09-20T20:25:07.157Z,1758399907.157 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4
2025-09-20T20:25:07.170Z,1758399907.170 [DAT](INFO): DAT read: 20:25:09.4722 LVL= 18464, 24561, 16370, 30291, AGC= 59, IDX= 503,-0.17, 2.756, 1.207,-3.107, 2.676, PHS= 0.182,-1.423, 0.456, RAW= 157.7, 9.0, CAL= 157.5, 9.5, ROT= 352.5, -9.5
2025-09-20T20:25:07.171Z,1758399907.171 [DAT](INFO): got valid direction response:
20:25:09.4722 LVL= 18464, 24561, 16370, 30291, AGC= 59, IDX= 503,-0.17, 2.756, 1.207,-3.107, 2.676, PHS= 0.182,-1.423, 0.456, RAW= 157.7, 9.0, CAL= 157.5, 9.5, ROT= 352.5, -9.5
2025-09-20T20:25:07.171Z,1758399907.171 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-20T20:25:07.172Z,1758399907.172 [DAT](INFO): direction in FSK: [0.977848,-0.128736,0.165048]
2025-09-20T20:25:07.173Z,1758399907.173 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:07.184Z,1758399907.184 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.631215
2025-09-20T20:25:07.198Z,1758399907.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.700001 m,
deltaT: 0.503822 s,
deltaX: -0.299999 m,
approachRate: -0.595447 m/s,
rangeRepo size: 4
2025-09-20T20:25:07.204Z,1758399907.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.574261 m,
bearing: 99.465211 deg,
lat: 36.779292 deg,
lon: -121.859544 deg,
deltaT: 0.503822 s,
deltaX: -0.298595 m,
approachRate: -0.592661 m/s,
posRepo size: 4
2025-09-20T20:25:07.205Z,1758399907.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.57 m.
2025-09-20T20:25:07.212Z,1758399907.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.574261 m,
nav range: 29.239906 m,
bearing: 99.897910 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.035805 deg/s,
cmd heading: 103.985129 deg,
new cmd heading: 103.954518 deg.
2025-09-20T20:25:07.213Z,1758399907.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814349 target range: 29.574261 and range: 29.70 m.
2025-09-20T20:25:07.404Z,1758399907.404 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.851229
2025-09-20T20:25:07.648Z,1758399907.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:07.650Z,1758399907.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.57 m.
2025-09-20T20:25:07.654Z,1758399907.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.574261 m,
nav range: 28.979937 m,
bearing: 99.892974 deg,
approach rate: -0.574044 m/s,
LOS rate: -0.010995 deg/s,
cmd heading: 103.954516 deg,
new cmd heading: 103.944557 deg.
2025-09-20T20:25:07.657Z,1758399907.657 [DAT](INFO): DAT read: Rx Time:20:25:09.9721
2025-09-20T20:25:07.657Z,1758399907.657 [DAT](INFO): Rx dataTimestamp_ set to:1758399907.656922
2025-09-20T20:25:07.658Z,1758399907.658 [DAT](INFO): DAT read: Bearing 275.5, -6.8 (Local)
2025-09-20T20:25:07.659Z,1758399907.659 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -6.8 (Local)
2025-09-20T20:25:07.661Z,1758399907.661 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.4
2025-09-20T20:25:07.666Z,1758399907.666 [DAT](INFO): DAT read: 20:25:09.9721 LVL= 19184, 24913, 16722, 31427, AGC= 59, IDX= 502, 0.11,-0.358,-1.919, 0.057,-0.464, PHS= 0.208,-1.410, 0.476, RAW= 157.6, 8.3, CAL= 157.2, 8.6, ROT= 352.8, -8.6
2025-09-20T20:25:07.687Z,1758399907.687 [DAT](INFO): got valid direction response:
20:25:09.9721 LVL= 19184, 24913, 16722, 31427, AGC= 59, IDX= 502, 0.11,-0.358,-1.919, 0.057,-0.464, PHS= 0.208,-1.410, 0.476, RAW= 157.6, 8.3, CAL= 157.2, 8.6, ROT= 352.8, -8.6
2025-09-20T20:25:07.688Z,1758399907.688 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-09-20T20:25:07.689Z,1758399907.689 [DAT](INFO): direction in FSK: [0.980960,-0.123924,0.149535]
2025-09-20T20:25:07.689Z,1758399907.689 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:07.693Z,1758399907.693 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.139652
2025-09-20T20:25:07.693Z,1758399907.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814175 target range: 29.574261 and range: 29.70 m.
2025-09-20T20:25:07.913Z,1758399907.913 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.359386
2025-09-20T20:25:08.104Z,1758399908.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.600000 m,
deltaT: 0.504100 s,
deltaX: -0.100000 m,
approachRate: -0.198374 m/s,
rangeRepo size: 4
2025-09-20T20:25:08.106Z,1758399908.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.474764 m,
bearing: 99.612507 deg,
lat: 36.779293 deg,
lon: -121.859544 deg,
deltaT: 0.504100 s,
deltaX: -0.099497 m,
approachRate: -0.197375 m/s,
posRepo size: 4
2025-09-20T20:25:08.106Z,1758399908.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.47 m.
2025-09-20T20:25:08.113Z,1758399908.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.474764 m,
nav range: 28.756889 m,
bearing: 99.729235 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010995 deg/s,
cmd heading: 103.944558 deg,
new cmd heading: 103.934698 deg.
2025-09-20T20:25:08.114Z,1758399908.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814003 target range: 29.474764 and range: 29.60 m.
2025-09-20T20:25:08.161Z,1758399908.161 [DAT](INFO): DAT read: Rx Time:20:25:10.4718
2025-09-20T20:25:08.161Z,1758399908.161 [DAT](INFO): Rx dataTimestamp_ set to:1758399908.160946
2025-09-20T20:25:08.162Z,1758399908.162 [DAT](INFO): DAT read: Bearing 275.7, -6.9 (Local)
2025-09-20T20:25:08.163Z,1758399908.163 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -6.9 (Local)
2025-09-20T20:25:08.165Z,1758399908.165 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4
2025-09-20T20:25:08.170Z,1758399908.170 [DAT](INFO): DAT read: 20:25:10.4718 LVL= 22624, 25329, 19250, 32739, AGC= 61, IDX= 499, 0.42,-1.201,-2.768,-0.786,-1.304, PHS= 0.204,-1.419, 0.473, RAW= 157.6, 8.4, CAL= 157.2, 8.8, ROT= 352.8, -8.8
2025-09-20T20:25:08.171Z,1758399908.171 [DAT](INFO): got valid direction response:
20:25:10.4718 LVL= 22624, 25329, 19250, 32739, AGC= 61, IDX= 499, 0.42,-1.201,-2.768,-0.786,-1.304, PHS= 0.204,-1.419, 0.473, RAW= 157.6, 8.4, CAL= 157.2, 8.8, ROT= 352.8, -8.8
2025-09-20T20:25:08.171Z,1758399908.171 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-09-20T20:25:08.172Z,1758399908.172 [DAT](INFO): direction in FSK: [0.980436,-0.123858,0.152986]
2025-09-20T20:25:08.173Z,1758399908.173 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:08.176Z,1758399908.176 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.623147
2025-09-20T20:25:08.412Z,1758399908.412 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.858960
2025-09-20T20:25:08.638Z,1758399908.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.100000 m,
deltaT: 0.504024 s,
deltaX: -0.500000 m,
approachRate: -0.992016 m/s,
rangeRepo size: 4
2025-09-20T20:25:08.648Z,1758399908.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.976879 m,
bearing: 99.577040 deg,
lat: 36.779293 deg,
lon: -121.859544 deg,
deltaT: 0.504024 s,
deltaX: -0.497885 m,
approachRate: -0.987820 m/s,
posRepo size: 4
2025-09-20T20:25:08.649Z,1758399908.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.98 m.
2025-09-20T20:25:08.656Z,1758399908.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.976879 m,
nav range: 28.473120 m,
bearing: 99.720507 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010995 deg/s,
cmd heading: 103.934695 deg,
new cmd heading: 103.922852 deg.
2025-09-20T20:25:08.657Z,1758399908.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813796 target range: 28.976879 and range: 29.10 m.
2025-09-20T20:25:08.665Z,1758399908.665 [DAT](INFO): DAT read: Rx Time:20:25:10.9719
2025-09-20T20:25:08.665Z,1758399908.665 [DAT](INFO): Rx dataTimestamp_ set to:1758399908.664822
2025-09-20T20:25:08.666Z,1758399908.666 [DAT](INFO): DAT read: Bearing 276.3, -7.4 (Local)
2025-09-20T20:25:08.667Z,1758399908.667 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.3, -7.4 (Local)
2025-09-20T20:25:08.669Z,1758399908.669 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.4
2025-09-20T20:25:08.674Z,1758399908.674 [DAT](INFO): DAT read: 20:25:10.9719 LVL= 24304, 24433, 20418, 32755, AGC= 61, IDX= 500,-0.16,-0.839,-2.390,-0.413,-0.919, PHS= 0.181,-1.426, 0.461, RAW= 157.9, 8.9, CAL= 157.6, 9.4, ROT= 352.4, -9.4
2025-09-20T20:25:08.675Z,1758399908.675 [DAT](INFO): got valid direction response:
20:25:10.9719 LVL= 24304, 24433, 20418, 32755, AGC= 61, IDX= 500,-0.16,-0.839,-2.390,-0.413,-0.919, PHS= 0.181,-1.426, 0.461, RAW= 157.9, 8.9, CAL= 157.6, 9.4, ROT= 352.4, -9.4
2025-09-20T20:25:08.676Z,1758399908.676 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-20T20:25:08.677Z,1758399908.677 [DAT](INFO): direction in FSK: [0.977906,-0.130480,0.163326]
2025-09-20T20:25:08.677Z,1758399908.677 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:08.685Z,1758399908.685 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.131452
2025-09-20T20:25:08.917Z,1758399908.917 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.363623
2025-09-20T20:25:08.981Z,1758399908.981 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 80.58, 84.32, 82.28
2025-09-20T20:25:09.065Z,1758399909.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 29.299999 m,
deltaT: 0.503876 s,
deltaX: 0.199999 m,
approachRate: 0.396921 m/s,
rangeRepo size: 4
2025-09-20T20:25:09.071Z,1758399909.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 29.176033 m,
bearing: 99.173660 deg,
lat: 36.779293 deg,
lon: -121.859543 deg,
deltaT: 0.503876 s,
deltaX: 0.199154 m,
approachRate: 0.395244 m/s,
posRepo size: 4
2025-09-20T20:25:09.072Z,1758399909.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.18 m.
2025-09-20T20:25:09.075Z,1758399909.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 29.176033 m,
nav range: 28.386328 m,
bearing: 99.572069 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010995 deg/s,
cmd heading: 103.922851 deg,
new cmd heading: 103.913457 deg.
2025-09-20T20:25:09.080Z,1758399909.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813632 target range: 29.176033 and range: 29.30 m.
2025-09-20T20:25:09.169Z,1758399909.169 [DAT](INFO): DAT read: Rx Time:20:25:11.4716
2025-09-20T20:25:09.170Z,1758399909.170 [DAT](INFO): Rx dataTimestamp_ set to:1758399909.169081
2025-09-20T20:25:09.172Z,1758399909.172 [DAT](INFO): DAT read: Bearing 275.8, -7.2 (Local)
2025-09-20T20:25:09.172Z,1758399909.172 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -7.2 (Local)
2025-09-20T20:25:09.175Z,1758399909.175 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.4
2025-09-20T20:25:09.181Z,1758399909.181 [DAT](INFO): DAT read: 20:25:11.4716 LVL= 27632, 26257, 21746, 32755, AGC= 61, IDX= 497, 0.13,-1.203,-2.781,-0.780,-1.301, PHS= 0.200,-1.434, 0.477, RAW= 157.7, 8.5, CAL= 157.4, 8.9, ROT= 352.6, -8.9
2025-09-20T20:25:09.182Z,1758399909.182 [DAT](INFO): got valid direction response:
20:25:11.4716 LVL= 27632, 26257, 21746, 32755, AGC= 61, IDX= 497, 0.13,-1.203,-2.781,-0.780,-1.301, PHS= 0.200,-1.434, 0.477, RAW= 157.7, 8.5, CAL= 157.4, 8.9, ROT= 352.6, -8.9
2025-09-20T20:25:09.183Z,1758399909.183 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-09-20T20:25:09.184Z,1758399909.184 [DAT](INFO): direction in FSK: [0.979731,-0.127245,0.154710]
2025-09-20T20:25:09.185Z,1758399909.185 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:09.188Z,1758399909.188 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.635116
2025-09-20T20:25:09.420Z,1758399909.420 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866965
2025-09-20T20:25:09.434Z,1758399909.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.799999 m,
deltaT: 0.504259 s,
deltaX: -0.500000 m,
approachRate: -0.991554 m/s,
rangeRepo size: 4
2025-09-20T20:25:09.440Z,1758399909.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.678234 m,
bearing: 99.308241 deg,
lat: 36.779294 deg,
lon: -121.859541 deg,
deltaT: 0.504259 s,
deltaX: -0.497799 m,
approachRate: -0.987189 m/s,
posRepo size: 4
2025-09-20T20:25:09.443Z,1758399909.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m.
2025-09-20T20:25:09.446Z,1758399909.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.678234 m,
nav range: 28.282961 m,
bearing: 99.308145 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.010995 deg/s,
cmd heading: 103.913460 deg,
new cmd heading: 103.905350 deg.
2025-09-20T20:25:09.447Z,1758399909.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813491 target range: 28.678234 and range: 28.80 m.
2025-09-20T20:25:09.672Z,1758399909.672 [DAT](INFO): DAT read: Rx Time:20:25:11.9714
2025-09-20T20:25:09.673Z,1758399909.673 [DAT](INFO): Rx dataTimestamp_ set to:1758399909.672395
2025-09-20T20:25:09.674Z,1758399909.674 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.4
2025-09-20T20:25:09.674Z,1758399909.674 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-09-20T20:25:09.676Z,1758399909.676 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.122371
2025-09-20T20:25:09.846Z,1758399909.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:09.849Z,1758399909.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.500000 m,
deltaT: 0.503314 s,
deltaX: -0.299999 m,
approachRate: -0.596048 m/s,
rangeRepo size: 4
2025-09-20T20:25:09.850Z,1758399909.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.68 m.
2025-09-20T20:25:09.868Z,1758399909.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.678234 m,
nav range: 28.047871 m,
bearing: 99.306650 deg,
approach rate: -0.566178 m/s,
LOS rate: -0.003631 deg/s,
cmd heading: 103.905352 deg,
new cmd heading: 103.902337 deg.
2025-09-20T20:25:09.869Z,1758399909.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813438 target range: 28.678234 and range: 28.50 m.
2025-09-20T20:25:09.925Z,1758399909.925 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.371798
2025-09-20T20:25:10.177Z,1758399910.177 [DAT](INFO): DAT read: Rx Time:20:25:12.4712
2025-09-20T20:25:10.177Z,1758399910.177 [DAT](INFO): Rx dataTimestamp_ set to:1758399910.176814
2025-09-20T20:25:10.178Z,1758399910.178 [DAT](INFO): DAT read: Bearing 276.6, -7.6 (Local)
2025-09-20T20:25:10.179Z,1758399910.179 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.6, -7.6 (Local)
2025-09-20T20:25:10.181Z,1758399910.181 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4
2025-09-20T20:25:10.186Z,1758399910.186 [DAT](INFO): DAT read: 20:25:12.4712 LVL= 22896, 22385, 19506, 32755, AGC= 58, IDX= 509,-0.16, 2.086, 0.519, 2.516, 2.010, PHS= 0.178,-1.447, 0.462, RAW= 157.9, 9.1, CAL= 157.7, 9.6, ROT= 352.3, -9.6
2025-09-20T20:25:10.187Z,1758399910.187 [DAT](INFO): got valid direction response:
20:25:12.4712 LVL= 22896, 22385, 19506, 32755, AGC= 58, IDX= 509,-0.16, 2.086, 0.519, 2.516, 2.010, PHS= 0.178,-1.447, 0.462, RAW= 157.9, 9.1, CAL= 157.7, 9.6, ROT= 352.3, -9.6
2025-09-20T20:25:10.187Z,1758399910.187 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-09-20T20:25:10.188Z,1758399910.188 [DAT](INFO): direction in FSK: [0.977105,-0.132110,0.166769]
2025-09-20T20:25:10.188Z,1758399910.188 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:10.220Z,1758399910.220 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.666893
2025-09-20T20:25:10.285Z,1758399910.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.200001 m,
deltaT: 0.504419 s,
deltaX: -0.299999 m,
approachRate: -0.594742 m/s,
rangeRepo size: 4
2025-09-20T20:25:10.294Z,1758399910.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 28.080896 m,
bearing: 98.947135 deg,
lat: 36.779294 deg,
lon: -121.859541 deg,
deltaT: 1.007733 s,
deltaX: -0.597338 m,
approachRate: -0.592754 m/s,
posRepo size: 4
2025-09-20T20:25:10.296Z,1758399910.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.08 m.
2025-09-20T20:25:10.306Z,1758399910.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 28.080896 m,
nav range: 27.827488 m,
bearing: 99.305483 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003631 deg/s,
cmd heading: 103.902340 deg,
new cmd heading: 103.899176 deg.
2025-09-20T20:25:10.318Z,1758399910.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813383 target range: 28.080896 and range: 28.20 m.
2025-09-20T20:25:10.428Z,1758399910.428 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.874997
2025-09-20T20:25:10.680Z,1758399910.680 [DAT](INFO): DAT read: Rx Time:20:25:12.9711
2025-09-20T20:25:10.681Z,1758399910.681 [DAT](INFO): Rx dataTimestamp_ set to:1758399910.680676
2025-09-20T20:25:10.682Z,1758399910.682 [DAT](INFO): DAT read: Bearing 275.7, -7.2 (Local)
2025-09-20T20:25:10.683Z,1758399910.683 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -7.2 (Local)
2025-09-20T20:25:10.685Z,1758399910.685 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.4
2025-09-20T20:25:10.689Z,1758399910.689 [DAT](INFO): DAT read: 20:25:12.9711 LVL= 21856, 24369, 18258, 32755, AGC= 58, IDX= 508, 0.04,-1.422,-2.982,-1.002,-1.522, PHS= 0.203,-1.415, 0.476, RAW= 157.7, 8.4, CAL= 157.3, 8.7, ROT= 352.7, -8.7
2025-09-20T20:25:10.690Z,1758399910.690 [DAT](INFO): got valid direction response:
20:25:12.9711 LVL= 21856, 24369, 18258, 32755, AGC= 58, IDX= 508, 0.04,-1.422,-2.982,-1.002,-1.522, PHS= 0.203,-1.415, 0.476, RAW= 157.7, 8.4, CAL= 157.3, 8.7, ROT= 352.7, -8.7
2025-09-20T20:25:10.691Z,1758399910.691 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-09-20T20:25:10.692Z,1758399910.692 [DAT](INFO): direction in FSK: [0.980482,-0.125602,0.151261]
2025-09-20T20:25:10.693Z,1758399910.693 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:10.696Z,1758399910.696 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.142954
2025-09-20T20:25:10.781Z,1758399910.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 28.100000 m,
deltaT: 0.503862 s,
deltaX: -0.100000 m,
approachRate: -0.198468 m/s,
rangeRepo size: 4
2025-09-20T20:25:10.789Z,1758399910.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.981319 m,
bearing: 99.291957 deg,
lat: 36.779294 deg,
lon: -121.859541 deg,
deltaT: 0.503862 s,
deltaX: -0.099577 m,
approachRate: -0.197627 m/s,
posRepo size: 4
2025-09-20T20:25:10.808Z,1758399910.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-09-20T20:25:10.820Z,1758399910.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.981319 m,
nav range: 27.585049 m,
bearing: 99.302072 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.003631 deg/s,
cmd heading: 103.899178 deg,
new cmd heading: 103.895642 deg.
2025-09-20T20:25:10.821Z,1758399910.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813321 target range: 27.981319 and range: 28.10 m.
2025-09-20T20:25:10.932Z,1758399910.932 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.379045
2025-09-20T20:25:11.155Z,1758399911.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.98 m.
2025-09-20T20:25:11.158Z,1758399911.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.981319 m,
nav range: 27.352581 m,
bearing: 99.303192 deg,
approach rate: -0.606025 m/s,
LOS rate: 0.002946 deg/s,
cmd heading: 103.895640 deg,
new cmd heading: 103.897900 deg.
2025-09-20T20:25:11.158Z,1758399911.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813360 target range: 27.981319 and range: 28.10 m.
2025-09-20T20:25:11.185Z,1758399911.185 [DAT](INFO): DAT read: Rx Time:20:25:13.4708
2025-09-20T20:25:11.185Z,1758399911.185 [DAT](INFO): Rx dataTimestamp_ set to:1758399911.184699
2025-09-20T20:25:11.186Z,1758399911.186 [DAT](INFO): DAT read: Bearing 275.7, -7.2 (Local)
2025-09-20T20:25:11.187Z,1758399911.187 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -7.2 (Local)
2025-09-20T20:25:11.189Z,1758399911.189 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5
2025-09-20T20:25:11.193Z,1758399911.193 [DAT](INFO): DAT read: 20:25:13.4708 LVL= 24112, 24881, 20034, 32755, AGC= 59, IDX= 505, 0.22,-1.768, 2.940,-1.348,-1.872, PHS= 0.206,-1.426, 0.480, RAW= 157.6, 8.3, CAL= 157.3, 8.7, ROT= 352.7, -8.7
2025-09-20T20:25:11.194Z,1758399911.194 [DAT](INFO): got valid direction response:
20:25:13.4708 LVL= 24112, 24881, 20034, 32755, AGC= 59, IDX= 505, 0.22,-1.768, 2.940,-1.348,-1.872, PHS= 0.206,-1.426, 0.480, RAW= 157.6, 8.3, CAL= 157.3, 8.7, ROT= 352.7, -8.7
2025-09-20T20:25:11.195Z,1758399911.195 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-09-20T20:25:11.196Z,1758399911.196 [DAT](INFO): direction in FSK: [0.980482,-0.125602,0.151261]
2025-09-20T20:25:11.196Z,1758399911.196 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:11.199Z,1758399911.199 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.646275
2025-09-20T20:25:11.436Z,1758399911.436 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.882963
2025-09-20T20:25:11.670Z,1758399911.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.600000 m,
deltaT: 0.504023 s,
deltaX: -0.500000 m,
approachRate: -0.992018 m/s,
rangeRepo size: 4
2025-09-20T20:25:11.676Z,1758399911.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.483515 m,
bearing: 99.154557 deg,
lat: 36.779294 deg,
lon: -121.859541 deg,
deltaT: 0.504023 s,
deltaX: -0.497805 m,
approachRate: -0.987663 m/s,
posRepo size: 4
2025-09-20T20:25:11.677Z,1758399911.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.48 m.
2025-09-20T20:25:11.689Z,1758399911.689 [DAT](INFO): DAT read: Rx Time:20:25:13.9708
2025-09-20T20:25:11.689Z,1758399911.689 [DAT](INFO): Rx dataTimestamp_ set to:1758399911.688875
2025-09-20T20:25:11.690Z,1758399911.690 [DAT](INFO): DAT read: Bearing 275.6, -7.1 (Local)
2025-09-20T20:25:11.691Z,1758399911.691 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -7.1 (Local)
2025-09-20T20:25:11.693Z,1758399911.693 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4
2025-09-20T20:25:11.698Z,1758399911.698 [DAT](INFO): DAT read: 20:25:13.9708 LVL= 19696, 23729, 19106, 32755, AGC= 58, IDX= 504, 0.44,-0.586,-2.140,-0.172,-0.690, PHS= 0.207,-1.405, 0.474, RAW= 157.6, 8.3, CAL= 157.2, 8.6, ROT= 352.8, -8.6
2025-09-20T20:25:11.699Z,1758399911.699 [DAT](INFO): got valid direction response:
20:25:13.9708 LVL= 19696, 23729, 19106, 32755, AGC= 58, IDX= 504, 0.44,-0.586,-2.140,-0.172,-0.690, PHS= 0.207,-1.405, 0.474, RAW= 157.6, 8.3, CAL= 157.2, 8.6, ROT= 352.8, -8.6
2025-09-20T20:25:11.699Z,1758399911.699 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-09-20T20:25:11.700Z,1758399911.700 [DAT](INFO): direction in FSK: [0.980960,-0.123924,0.149535]
2025-09-20T20:25:11.701Z,1758399911.701 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:11.704Z,1758399911.704 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.151018
2025-09-20T20:25:11.712Z,1758399911.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.483515 m,
nav range: 27.121584 m,
bearing: 99.229106 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002946 deg/s,
cmd heading: 103.897901 deg,
new cmd heading: 103.900934 deg.
2025-09-20T20:25:11.713Z,1758399911.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813413 target range: 27.483515 and range: 27.60 m.
2025-09-20T20:25:11.940Z,1758399911.940 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.386904
2025-09-20T20:25:12.090Z,1758399912.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.500000 m,
deltaT: 0.504176 s,
deltaX: -0.100000 m,
approachRate: -0.198344 m/s,
rangeRepo size: 4
2025-09-20T20:25:12.096Z,1758399912.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.383835 m,
bearing: 99.214579 deg,
lat: 36.779294 deg,
lon: -121.859541 deg,
deltaT: 0.504176 s,
deltaX: -0.099680 m,
approachRate: -0.197709 m/s,
posRepo size: 4
2025-09-20T20:25:12.097Z,1758399912.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.38 m.
2025-09-20T20:25:12.104Z,1758399912.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.383835 m,
nav range: 26.889275 m,
bearing: 99.267292 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002946 deg/s,
cmd heading: 103.900933 deg,
new cmd heading: 103.903406 deg.
2025-09-20T20:25:12.105Z,1758399912.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813457 target range: 27.383835 and range: 27.50 m.
2025-09-20T20:25:12.194Z,1758399912.194 [DAT](INFO): DAT read: Rx Time:20:25:14.4706
2025-09-20T20:25:12.194Z,1758399912.194 [DAT](INFO): Rx dataTimestamp_ set to:1758399912.193923
2025-09-20T20:25:12.196Z,1758399912.196 [DAT](INFO): DAT read: Bearing 276.0, -7.5 (Local)
2025-09-20T20:25:12.197Z,1758399912.197 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.0, -7.5 (Local)
2025-09-20T20:25:12.200Z,1758399912.200 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.4
2025-09-20T20:25:12.206Z,1758399912.206 [DAT](INFO): DAT read: 20:25:14.4706 LVL= 22848, 25137, 18290, 31219, AGC= 59, IDX= 502,-0.28,-2.569, 2.161,-2.143,-2.658, PHS= 0.191,-1.419, 0.471, RAW= 157.9, 8.6, CAL= 157.6, 9.0, ROT= 352.4, -9.0
2025-09-20T20:25:12.207Z,1758399912.207 [DAT](INFO): got valid direction response:
20:25:14.4706 LVL= 22848, 25137, 18290, 31219, AGC= 59, IDX= 502,-0.28,-2.569, 2.161,-2.143,-2.658, PHS= 0.191,-1.419, 0.471, RAW= 157.9, 8.6, CAL= 157.6, 9.0, ROT= 352.4, -9.0
2025-09-20T20:25:12.215Z,1758399912.215 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-09-20T20:25:12.216Z,1758399912.216 [DAT](INFO): direction in FSK: [0.979012,-0.130628,0.156434]
2025-09-20T20:25:12.216Z,1758399912.216 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:12.231Z,1758399912.231 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.677429
2025-09-20T20:25:12.407Z,1758399912.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 27.200001 m,
deltaT: 0.505048 s,
deltaX: -0.299999 m,
approachRate: -0.594001 m/s,
rangeRepo size: 4
2025-09-20T20:25:12.409Z,1758399912.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 27.085102 m,
bearing: 98.828392 deg,
lat: 36.779295 deg,
lon: -121.859541 deg,
deltaT: 0.505048 s,
deltaX: -0.298733 m,
approachRate: -0.591494 m/s,
posRepo size: 4
2025-09-20T20:25:12.410Z,1758399912.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.09 m.
2025-09-20T20:25:12.417Z,1758399912.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 27.085102 m,
nav range: 26.728544 m,
bearing: 99.155382 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002946 deg/s,
cmd heading: 103.903406 deg,
new cmd heading: 103.905250 deg.
2025-09-20T20:25:12.418Z,1758399912.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813489 target range: 27.085102 and range: 27.20 m.
2025-09-20T20:25:12.444Z,1758399912.444 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.890911
2025-09-20T20:25:12.696Z,1758399912.696 [DAT](INFO): DAT read: Rx Time:20:25:14.9704
2025-09-20T20:25:12.697Z,1758399912.697 [DAT](INFO): Rx dataTimestamp_ set to:1758399912.696676
2025-09-20T20:25:12.698Z,1758399912.698 [DAT](INFO): DAT read: Bearing 276.0, -7.5 (Local)
2025-09-20T20:25:12.699Z,1758399912.699 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.0, -7.5 (Local)
2025-09-20T20:25:12.701Z,1758399912.701 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4
2025-09-20T20:25:12.705Z,1758399912.705 [DAT](INFO): DAT read: 20:25:14.9704 LVL= 20528, 26097, 18162, 30467, AGC= 59, IDX= 500,-0.06,-2.782, 1.952,-2.359,-2.871, PHS= 0.191,-1.416, 0.468, RAW= 157.8, 8.6, CAL= 157.5, 9.1, ROT= 352.5, -9.1
2025-09-20T20:25:12.706Z,1758399912.706 [DAT](INFO): got valid direction response:
20:25:14.9704 LVL= 20528, 26097, 18162, 30467, AGC= 59, IDX= 500,-0.06,-2.782, 1.952,-2.359,-2.871, PHS= 0.191,-1.416, 0.468, RAW= 157.8, 8.6, CAL= 157.5, 9.1, ROT= 352.5, -9.1
2025-09-20T20:25:12.707Z,1758399912.707 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-09-20T20:25:12.708Z,1758399912.708 [DAT](INFO): direction in FSK: [0.978966,-0.128883,0.158158]
2025-09-20T20:25:12.708Z,1758399912.708 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:12.711Z,1758399912.711 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.158337
2025-09-20T20:25:12.882Z,1758399912.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.900000 m,
deltaT: 0.502753 s,
deltaX: -0.300001 m,
approachRate: -0.596717 m/s,
rangeRepo size: 4
2025-09-20T20:25:12.889Z,1758399912.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.786369 m,
bearing: 98.876302 deg,
lat: 36.779295 deg,
lon: -121.859541 deg,
deltaT: 0.502753 s,
deltaX: -0.298733 m,
approachRate: -0.594194 m/s,
posRepo size: 4
2025-09-20T20:25:12.889Z,1758399912.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m.
2025-09-20T20:25:12.896Z,1758399912.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.786369 m,
nav range: 26.474060 m,
bearing: 99.164502 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.002946 deg/s,
cmd heading: 103.905250 deg,
new cmd heading: 103.908074 deg.
2025-09-20T20:25:12.897Z,1758399912.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813538 target range: 26.786369 and range: 26.90 m.
2025-09-20T20:25:12.949Z,1758399912.949 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.395939
2025-09-20T20:25:13.174Z,1758399913.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:13.180Z,1758399913.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.79 m.
2025-09-20T20:25:13.187Z,1758399913.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.786369 m,
nav range: 26.310835 m,
bearing: 99.170795 deg,
approach rate: -0.546507 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 103.908078 deg,
new cmd heading: 103.920740 deg.
2025-09-20T20:25:13.188Z,1758399913.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813759 target range: 26.786369 and range: 26.90 m.
2025-09-20T20:25:13.201Z,1758399913.201 [DAT](INFO): DAT read: Rx Time:20:25:15.4701
2025-09-20T20:25:13.201Z,1758399913.201 [DAT](INFO): Rx dataTimestamp_ set to:1758399913.200740
2025-09-20T20:25:13.202Z,1758399913.202 [DAT](INFO): DAT read: Bearing 275.6, -7.6 (Local)
2025-09-20T20:25:13.203Z,1758399913.203 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -7.6 (Local)
2025-09-20T20:25:13.205Z,1758399913.205 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4
2025-09-20T20:25:13.210Z,1758399913.210 [DAT](INFO): DAT read: 20:25:15.4701 LVL= 20576, 27617, 16866, 28963, AGC= 59, IDX= 497, 0.17,-2.688, 2.015,-2.259,-2.790, PHS= 0.204,-1.434, 0.487, RAW= 157.8, 8.3, CAL= 157.5, 8.7, ROT= 352.5, -8.7
2025-09-20T20:25:13.211Z,1758399913.211 [DAT](INFO): got valid direction response:
20:25:15.4701 LVL= 20576, 27617, 16866, 28963, AGC= 59, IDX= 497, 0.17,-2.688, 2.015,-2.259,-2.790, PHS= 0.204,-1.434, 0.487, RAW= 157.8, 8.3, CAL= 157.5, 8.7, ROT= 352.5, -8.7
2025-09-20T20:25:13.211Z,1758399913.211 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-09-20T20:25:13.212Z,1758399913.212 [DAT](INFO): direction in FSK: [0.980037,-0.129024,0.151261]
2025-09-20T20:25:13.213Z,1758399913.213 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:13.216Z,1758399913.216 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.663157
2025-09-20T20:25:13.452Z,1758399913.452 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.899134
2025-09-20T20:25:13.691Z,1758399913.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.400000 m,
deltaT: 0.504064 s,
deltaX: -0.500000 m,
approachRate: -0.991938 m/s,
rangeRepo size: 4
2025-09-20T20:25:13.694Z,1758399913.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.288345 m,
bearing: 98.809062 deg,
lat: 36.779296 deg,
lon: -121.859541 deg,
deltaT: 0.504064 s,
deltaX: -0.498024 m,
approachRate: -0.988017 m/s,
posRepo size: 4
2025-09-20T20:25:13.694Z,1758399913.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.29 m.
2025-09-20T20:25:13.701Z,1758399913.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.288345 m,
nav range: 26.051043 m,
bearing: 98.876278 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 103.920741 deg,
new cmd heading: 103.942204 deg.
2025-09-20T20:25:13.702Z,1758399913.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814134 target range: 26.288345 and range: 26.40 m.
2025-09-20T20:25:13.705Z,1758399913.705 [DAT](INFO): DAT read: Rx Time:20:25:15.9700
2025-09-20T20:25:13.705Z,1758399913.705 [DAT](INFO): Rx dataTimestamp_ set to:1758399913.704915
2025-09-20T20:25:13.706Z,1758399913.706 [DAT](INFO): DAT read: Bearing 286.0, 2.8 (Local)
2025-09-20T20:25:13.707Z,1758399913.707 [DAT](INFO): Local bearing/azimuth received:
Bearing 286.0, 2.8 (Local)
2025-09-20T20:25:13.709Z,1758399913.709 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.4
2025-09-20T20:25:13.714Z,1758399913.714 [DAT](INFO): DAT read: 20:25:15.9700 LVL= 20208, 24097, 18370, 31443, AGC= 58, IDX= 513,-0.48, 3.115, 1.768,-3.119, 3.111, PHS= 0.106,-1.298, 0.009, RAW= 146.5, 17.1, CAL= 146.4, 18.8, ROT= 3.6, -18.8
2025-09-20T20:25:13.715Z,1758399913.715 [DAT](INFO): got valid direction response:
20:25:15.9700 LVL= 20208, 24097, 18370, 31443, AGC= 58, IDX= 513,-0.48, 3.115, 1.768,-3.119, 3.111, PHS= 0.106,-1.298, 0.009, RAW= 146.5, 17.1, CAL= 146.4, 18.8, ROT= 3.6, -18.8
2025-09-20T20:25:13.715Z,1758399913.715 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-09-20T20:25:13.716Z,1758399913.716 [DAT](INFO): direction in FSK: [0.944781,0.059441,0.322266]
2025-09-20T20:25:13.716Z,1758399913.716 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:13.724Z,1758399913.724 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.170851
2025-09-20T20:25:13.958Z,1758399913.958 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.404406
2025-09-20T20:25:14.140Z,1758399914.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.299999 m,
deltaT: 0.504175 s,
deltaX: -0.100000 m,
approachRate: -0.198345 m/s,
rangeRepo size: 4
2025-09-20T20:25:14.142Z,1758399914.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 26.188707 m,
bearing: 110.212299 deg,
lat: 36.779296 deg,
lon: -121.859541 deg,
deltaT: 0.504175 s,
deltaX: -0.099638 m,
approachRate: -0.197626 m/s,
posRepo size: 4
2025-09-20T20:25:14.147Z,1758399914.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.19 m.
2025-09-20T20:25:14.150Z,1758399914.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 26.188707 m,
nav range: 25.744566 m,
bearing: 98.883058 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 103.942201 deg,
new cmd heading: 103.961410 deg.
2025-09-20T20:25:14.155Z,1758399914.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814469 target range: 26.188707 and range: 26.30 m.
2025-09-20T20:25:14.210Z,1758399914.210 [DAT](INFO): DAT read: Rx Time:20:25:16.4698
2025-09-20T20:25:14.211Z,1758399914.211 [DAT](INFO): Rx dataTimestamp_ set to:1758399914.210588
2025-09-20T20:25:14.213Z,1758399914.213 [DAT](INFO): DAT read: Bearing 275.6, -7.9 (Local)
2025-09-20T20:25:14.213Z,1758399914.213 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -7.9 (Local)
2025-09-20T20:25:14.217Z,1758399914.217 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4
2025-09-20T20:25:14.224Z,1758399914.224 [DAT](INFO): DAT read: 20:25:16.4698 LVL= 21344, 29393, 16450, 29683, AGC= 56, IDX= 510,-0.14, 0.742,-0.808, 1.174, 0.649, PHS= 0.196,-1.412, 0.481, RAW= 158.0, 8.4, CAL= 157.7, 8.7, ROT= 352.3, -8.7
2025-09-20T20:25:14.225Z,1758399914.225 [DAT](INFO): got valid direction response:
20:25:16.4698 LVL= 21344, 29393, 16450, 29683, AGC= 56, IDX= 510,-0.14, 0.742,-0.808, 1.174, 0.649, PHS= 0.196,-1.412, 0.481, RAW= 158.0, 8.4, CAL= 157.7, 8.7, ROT= 352.3, -8.7
2025-09-20T20:25:14.225Z,1758399914.225 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-09-20T20:25:14.226Z,1758399914.226 [DAT](INFO): direction in FSK: [0.979581,-0.132445,0.151261]
2025-09-20T20:25:14.226Z,1758399914.226 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:14.266Z,1758399914.266 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.712790
2025-09-20T20:25:14.460Z,1758399914.460 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.906984
2025-09-20T20:25:14.560Z,1758399914.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 26.000000 m,
deltaT: 0.505673 s,
deltaX: -0.299999 m,
approachRate: -0.593267 m/s,
rangeRepo size: 4
2025-09-20T20:25:14.562Z,1758399914.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.889978 m,
bearing: 98.515768 deg,
lat: 36.779296 deg,
lon: -121.859541 deg,
deltaT: 0.505673 s,
deltaX: -0.298729 m,
approachRate: -0.590755 m/s,
posRepo size: 4
2025-09-20T20:25:14.562Z,1758399914.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.89 m.
2025-09-20T20:25:14.569Z,1758399914.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.889978 m,
nav range: 25.546688 m,
bearing: 98.851794 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 103.961408 deg,
new cmd heading: 103.978978 deg.
2025-09-20T20:25:14.570Z,1758399914.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814775 target range: 25.889978 and range: 26.00 m.
2025-09-20T20:25:14.713Z,1758399914.713 [DAT](INFO): DAT read: Rx Time:20:25:16.9697
2025-09-20T20:25:14.713Z,1758399914.713 [DAT](INFO): Rx dataTimestamp_ set to:1758399914.712980
2025-09-20T20:25:14.715Z,1758399914.715 [DAT](INFO): DAT read: Bearing 275.6, -7.8 (Local)
2025-09-20T20:25:14.715Z,1758399914.715 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -7.8 (Local)
2025-09-20T20:25:14.717Z,1758399914.717 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.4
2025-09-20T20:25:14.727Z,1758399914.727 [DAT](INFO): DAT read: 20:25:16.9697 LVL= 21168, 25265, 21186, 32755, AGC= 58, IDX= 509, 0.09, 2.890, 1.318,-2.965, 2.791, PHS= 0.201,-1.428, 0.483, RAW= 157.8, 8.4, CAL= 157.5, 8.7, ROT= 352.5, -8.7
2025-09-20T20:25:14.728Z,1758399914.728 [DAT](INFO): got valid direction response:
20:25:16.9697 LVL= 21168, 25265, 21186, 32755, AGC= 58, IDX= 509, 0.09, 2.890, 1.318,-2.965, 2.791, PHS= 0.201,-1.428, 0.483, RAW= 157.8, 8.4, CAL= 157.5, 8.7, ROT= 352.5, -8.7
2025-09-20T20:25:14.728Z,1758399914.728 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-09-20T20:25:14.729Z,1758399914.729 [DAT](INFO): direction in FSK: [0.980037,-0.129024,0.151261]
2025-09-20T20:25:14.729Z,1758399914.729 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:14.733Z,1758399914.733 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.180161
2025-09-20T20:25:14.948Z,1758399914.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.799999 m,
deltaT: 0.502392 s,
deltaX: -0.200001 m,
approachRate: -0.398097 m/s,
rangeRepo size: 4
2025-09-20T20:25:14.950Z,1758399914.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.690825 m,
bearing: 98.670024 deg,
lat: 36.779296 deg,
lon: -121.859541 deg,
deltaT: 0.502392 s,
deltaX: -0.199154 m,
approachRate: -0.396411 m/s,
posRepo size: 4
2025-09-20T20:25:14.955Z,1758399914.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.69 m.
2025-09-20T20:25:14.958Z,1758399914.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.690825 m,
nav range: 25.297054 m,
bearing: 98.781666 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 103.978975 deg,
new cmd heading: 103.995639 deg.
2025-09-20T20:25:14.958Z,1758399914.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815066 target range: 25.690825 and range: 25.80 m.
2025-09-20T20:25:14.964Z,1758399914.964 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.411095
2025-09-20T20:25:15.218Z,1758399915.218 [DAT](INFO): DAT read: Rx Time:20:25:17.4694
2025-09-20T20:25:15.219Z,1758399915.219 [DAT](INFO): Rx dataTimestamp_ set to:1758399915.218339
2025-09-20T20:25:15.221Z,1758399915.221 [DAT](INFO): DAT read: Bearing 275.4, -8.0 (Local)
2025-09-20T20:25:15.221Z,1758399915.221 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.4, -8.0 (Local)
2025-09-20T20:25:15.225Z,1758399915.225 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4
2025-09-20T20:25:15.231Z,1758399915.231 [DAT](INFO): DAT read: 20:25:17.4694 LVL= 20080, 23281, 18402, 31443, AGC= 58, IDX= 506, 0.37, 2.225, 0.652, 2.661, 2.125, PHS= 0.202,-1.428, 0.492, RAW= 158.1, 8.2, CAL= 157.7, 8.6, ROT= 352.3, -8.6
2025-09-20T20:25:15.240Z,1758399915.240 [DAT](INFO): got valid direction response:
20:25:17.4694 LVL= 20080, 23281, 18402, 31443, AGC= 58, IDX= 506, 0.37, 2.225, 0.652, 2.661, 2.125, PHS= 0.202,-1.428, 0.492, RAW= 158.1, 8.2, CAL= 157.7, 8.6, ROT= 352.3, -8.6
2025-09-20T20:25:15.240Z,1758399915.240 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-09-20T20:25:15.241Z,1758399915.241 [DAT](INFO): direction in FSK: [0.979841,-0.132480,0.149535]
2025-09-20T20:25:15.242Z,1758399915.242 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:15.265Z,1758399915.265 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.712078
2025-09-20T20:25:15.369Z,1758399915.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.400000 m,
deltaT: 0.505359 s,
deltaX: -0.400000 m,
approachRate: -0.791516 m/s,
rangeRepo size: 4
2025-09-20T20:25:15.375Z,1758399915.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.292469 m,
bearing: 98.466407 deg,
lat: 36.779297 deg,
lon: -121.859542 deg,
deltaT: 0.505359 s,
deltaX: -0.398355 m,
approachRate: -0.788262 m/s,
posRepo size: 4
2025-09-20T20:25:15.376Z,1758399915.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.29 m.
2025-09-20T20:25:15.378Z,1758399915.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.292469 m,
nav range: 25.025330 m,
bearing: 98.717704 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 103.995641 deg,
new cmd heading: 104.013490 deg.
2025-09-20T20:25:15.383Z,1758399915.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815378 target range: 25.292469 and range: 25.40 m.
2025-09-20T20:25:15.469Z,1758399915.469 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.916313
2025-09-20T20:25:15.721Z,1758399915.721 [DAT](INFO): DAT read: Rx Time:20:25:17.9693
2025-09-20T20:25:15.721Z,1758399915.721 [DAT](INFO): Rx dataTimestamp_ set to:1758399915.720991
2025-09-20T20:25:15.723Z,1758399915.723 [DAT](INFO): DAT read: Bearing 276.0, -8.2 (Local)
2025-09-20T20:25:15.723Z,1758399915.723 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.0, -8.2 (Local)
2025-09-20T20:25:15.725Z,1758399915.725 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.4
2025-09-20T20:25:15.730Z,1758399915.730 [DAT](INFO): DAT read: 20:25:17.9693 LVL= 21232, 24881, 19250, 32435, AGC= 58, IDX= 506,-0.21, 1.443,-0.100, 1.878, 1.364, PHS= 0.181,-1.419, 0.470, RAW= 158.1, 8.8, CAL= 157.9, 9.2, ROT= 352.1, -9.2
2025-09-20T20:25:15.731Z,1758399915.731 [DAT](INFO): got valid direction response:
20:25:17.9693 LVL= 21232, 24881, 19250, 32435, AGC= 58, IDX= 506,-0.21, 1.443,-0.100, 1.878, 1.364, PHS= 0.181,-1.419, 0.470, RAW= 158.1, 8.8, CAL= 157.9, 9.2, ROT= 352.1, -9.2
2025-09-20T20:25:15.731Z,1758399915.731 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-09-20T20:25:15.732Z,1758399915.732 [DAT](INFO): direction in FSK: [0.977768,-0.135677,0.159881]
2025-09-20T20:25:15.732Z,1758399915.732 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:15.740Z,1758399915.740 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.187214
2025-09-20T20:25:15.906Z,1758399915.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 25.200001 m,
deltaT: 0.502652 s,
deltaX: -0.199999 m,
approachRate: -0.397887 m/s,
rangeRepo size: 4
2025-09-20T20:25:15.913Z,1758399915.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 25.093317 m,
bearing: 98.224986 deg,
lat: 36.779297 deg,
lon: -121.859541 deg,
deltaT: 0.502652 s,
deltaX: -0.199152 m,
approachRate: -0.396203 m/s,
posRepo size: 4
2025-09-20T20:25:15.914Z,1758399915.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.09 m.
2025-09-20T20:25:15.930Z,1758399915.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 25.093317 m,
nav range: 24.779907 m,
bearing: 98.503440 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 104.013488 deg,
new cmd heading: 104.036268 deg.
2025-09-20T20:25:15.940Z,1758399915.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815775 target range: 25.093317 and range: 25.20 m.
2025-09-20T20:25:15.972Z,1758399915.972 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.418884
2025-09-20T20:25:16.225Z,1758399916.225 [DAT](INFO): DAT read: Rx Time:20:25:18.4690
2025-09-20T20:25:16.225Z,1758399916.225 [DAT](INFO): Rx dataTimestamp_ set to:1758399916.224700
2025-09-20T20:25:16.226Z,1758399916.226 [DAT](INFO): DAT read: Bearing 275.2, -8.0 (Local)
2025-09-20T20:25:16.227Z,1758399916.227 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.2, -8.0 (Local)
2025-09-20T20:25:16.229Z,1758399916.229 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4
2025-09-20T20:25:16.233Z,1758399916.233 [DAT](INFO): DAT read: 20:25:18.4690 LVL= 22512, 31793, 18130, 32755, AGC= 55, IDX= 503, 0.06, 1.991, 0.431, 2.419, 1.887, PHS= 0.206,-1.411, 0.488, RAW= 157.9, 8.1, CAL= 157.5, 8.4, ROT= 352.5, -8.4
2025-09-20T20:25:16.234Z,1758399916.234 [DAT](INFO): got valid direction response:
20:25:18.4690 LVL= 22512, 31793, 18130, 32755, AGC= 55, IDX= 503, 0.06, 1.991, 0.431, 2.419, 1.887, PHS= 0.206,-1.411, 0.488, RAW= 157.9, 8.1, CAL= 157.5, 8.4, ROT= 352.5, -8.4
2025-09-20T20:25:16.235Z,1758399916.235 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-09-20T20:25:16.236Z,1758399916.236 [DAT](INFO): direction in FSK: [0.980809,-0.129126,0.146083]
2025-09-20T20:25:16.236Z,1758399916.236 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:16.240Z,1758399916.240 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.686699
2025-09-20T20:25:16.413Z,1758399916.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.900000 m,
deltaT: 0.503709 s,
deltaX: -0.300001 m,
approachRate: -0.595584 m/s,
rangeRepo size: 4
2025-09-20T20:25:16.419Z,1758399916.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.794418 m,
bearing: 98.519102 deg,
lat: 36.779297 deg,
lon: -121.859541 deg,
deltaT: 0.503709 s,
deltaX: -0.298899 m,
approachRate: -0.593396 m/s,
posRepo size: 4
2025-09-20T20:25:16.420Z,1758399916.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.79 m.
2025-09-20T20:25:16.423Z,1758399916.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.794418 m,
nav range: 24.524435 m,
bearing: 98.466408 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 104.036267 deg,
new cmd heading: 104.057756 deg.
2025-09-20T20:25:16.428Z,1758399916.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816150 target range: 24.794418 and range: 24.90 m.
2025-09-20T20:25:16.477Z,1758399916.477 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.923973
2025-09-20T20:25:16.733Z,1758399916.733 [DAT](INFO): DAT read: Rx Time:20:25:18.9688
2025-09-20T20:25:16.739Z,1758399916.739 [DAT](INFO): Rx dataTimestamp_ set to:1758399916.733966
2025-09-20T20:25:16.740Z,1758399916.740 [DAT](INFO): DAT read: Bearing 275.4, -8.2 (Local)
2025-09-20T20:25:16.741Z,1758399916.741 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.4, -8.2 (Local)
2025-09-20T20:25:16.743Z,1758399916.743 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.4
2025-09-20T20:25:16.768Z,1758399916.768 [DAT](INFO): DAT read: 20:25:18.9688 LVL= 20208, 25153, 18930, 30323, AGC= 57, IDX= 501, 0.41, 1.768, 0.200, 2.205, 1.668, PHS= 0.201,-1.423, 0.492, RAW= 158.1, 8.2, CAL= 157.7, 8.5, ROT= 352.3, -8.5
2025-09-20T20:25:16.770Z,1758399916.770 [DAT](INFO): got valid direction response:
20:25:18.9688 LVL= 20208, 25153, 18930, 30323, AGC= 57, IDX= 501, 0.41, 1.768, 0.200, 2.205, 1.668, PHS= 0.201,-1.423, 0.492, RAW= 158.1, 8.2, CAL= 157.7, 8.5, ROT= 352.3, -8.5
2025-09-20T20:25:16.770Z,1758399916.770 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-09-20T20:25:16.789Z,1758399916.789 [DAT](INFO): direction in FSK: [0.980098,-0.132515,0.147809]
2025-09-20T20:25:16.789Z,1758399916.789 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:16.819Z,1758399916.819 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.266193
2025-09-20T20:25:16.924Z,1758399916.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.600000 m,
deltaT: 0.509266 s,
deltaX: -0.299999 m,
approachRate: -0.589082 m/s,
rangeRepo size: 4
2025-09-20T20:25:16.926Z,1758399916.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.495691 m,
bearing: 98.322741 deg,
lat: 36.779298 deg,
lon: -121.859541 deg,
deltaT: 0.509266 s,
deltaX: -0.298727 m,
approachRate: -0.586583 m/s,
posRepo size: 4
2025-09-20T20:25:16.927Z,1758399916.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.50 m.
2025-09-20T20:25:16.930Z,1758399916.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.495691 m,
nav range: 24.227936 m,
bearing: 98.361030 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 104.057754 deg,
new cmd heading: 104.079426 deg.
2025-09-20T20:25:16.931Z,1758399916.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816529 target range: 24.495691 and range: 24.60 m.
2025-09-20T20:25:16.981Z,1758399916.981 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.427654
2025-09-20T20:25:17.233Z,1758399917.233 [DAT](INFO): DAT read: Rx Time:20:25:19.4686
2025-09-20T20:25:17.233Z,1758399917.233 [DAT](INFO): Rx dataTimestamp_ set to:1758399917.232885
2025-09-20T20:25:17.234Z,1758399917.234 [DAT](INFO): DAT read: Bearing 276.1, -8.7 (Local)
2025-09-20T20:25:17.235Z,1758399917.235 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.1, -8.7 (Local)
2025-09-20T20:25:17.237Z,1758399917.237 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.4
2025-09-20T20:25:17.242Z,1758399917.242 [DAT](INFO): DAT read: 20:25:19.4686 LVL= 20208, 21937, 17298, 29939, AGC= 57, IDX= 499,-0.14,-0.802,-2.340,-0.359,-0.877, PHS= 0.177,-1.418, 0.474, RAW= 158.4, 8.7, CAL= 158.1, 9.2, ROT= 351.9, -9.2
2025-09-20T20:25:17.243Z,1758399917.243 [DAT](INFO): got valid direction response:
20:25:19.4686 LVL= 20208, 21937, 17298, 29939, AGC= 57, IDX= 499,-0.14,-0.802,-2.340,-0.359,-0.877, PHS= 0.177,-1.418, 0.474, RAW= 158.4, 8.7, CAL= 158.1, 9.2, ROT= 351.9, -9.2
2025-09-20T20:25:17.243Z,1758399917.243 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-09-20T20:25:17.244Z,1758399917.244 [DAT](INFO): direction in FSK: [0.977288,-0.139089,0.159881]
2025-09-20T20:25:17.244Z,1758399917.244 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:17.252Z,1758399917.252 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.698809
2025-09-20T20:25:17.335Z,1758399917.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.299999 m,
deltaT: 0.498919 s,
deltaX: -0.300001 m,
approachRate: -0.601302 m/s,
rangeRepo size: 4
2025-09-20T20:25:17.337Z,1758399917.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.196650 m,
bearing: 97.913149 deg,
lat: 36.779298 deg,
lon: -121.859541 deg,
deltaT: 0.498919 s,
deltaX: -0.299042 m,
approachRate: -0.599379 m/s,
posRepo size: 4
2025-09-20T20:25:17.338Z,1758399917.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.20 m.
2025-09-20T20:25:17.349Z,1758399917.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.196650 m,
nav range: 23.986166 m,
bearing: 98.319872 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 104.079427 deg,
new cmd heading: 104.096511 deg.
2025-09-20T20:25:17.350Z,1758399917.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816827 target range: 24.196650 and range: 24.30 m.
2025-09-20T20:25:17.484Z,1758399917.484 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.931149
2025-09-20T20:25:17.738Z,1758399917.738 [DAT](INFO): DAT read: Rx Time:20:25:19.9685
2025-09-20T20:25:17.738Z,1758399917.738 [DAT](INFO): Rx dataTimestamp_ set to:1758399917.737705
2025-09-20T20:25:17.739Z,1758399917.739 [DAT](INFO): DAT read: Bearing 275.6, -8.8 (Local)
2025-09-20T20:25:17.740Z,1758399917.740 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -8.8 (Local)
2025-09-20T20:25:17.742Z,1758399917.742 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.4
2025-09-20T20:25:17.747Z,1758399917.747 [DAT](INFO): DAT read: 20:25:19.9685 LVL= 21440, 24545, 19954, 32179, AGC= 59, IDX= 498, 0.14, 1.909, 0.344, 2.360, 1.821, PHS= 0.189,-1.433, 0.495, RAW= 158.5, 8.4, CAL= 158.1, 8.7, ROT= 351.9, -8.7
2025-09-20T20:25:17.748Z,1758399917.748 [DAT](INFO): got valid direction response:
20:25:19.9685 LVL= 21440, 24545, 19954, 32179, AGC= 59, IDX= 498, 0.14, 1.909, 0.344, 2.360, 1.821, PHS= 0.189,-1.433, 0.495, RAW= 158.5, 8.4, CAL= 158.1, 8.7, ROT= 351.9, -8.7
2025-09-20T20:25:17.748Z,1758399917.748 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-09-20T20:25:17.749Z,1758399917.749 [DAT](INFO): direction in FSK: [0.978632,-0.139280,0.151261]
2025-09-20T20:25:17.750Z,1758399917.750 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:17.768Z,1758399917.768 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.214333
2025-09-20T20:25:17.819Z,1758399917.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 24.200001 m,
deltaT: 0.504820 s,
deltaX: -0.099998 m,
approachRate: -0.198087 m/s,
rangeRepo size: 4
2025-09-20T20:25:17.825Z,1758399917.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 24.097076 m,
bearing: 97.875060 deg,
lat: 36.779298 deg,
lon: -121.859541 deg,
deltaT: 0.504820 s,
deltaX: -0.099573 m,
approachRate: -0.197245 m/s,
posRepo size: 4
2025-09-20T20:25:17.826Z,1758399917.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-09-20T20:25:17.833Z,1758399917.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.097076 m,
nav range: 23.743481 m,
bearing: 98.121053 deg,
approach rate: 0.000000 m/s,
LOS rate: 0.021198 deg/s,
cmd heading: 104.096509 deg,
new cmd heading: 104.117347 deg.
2025-09-20T20:25:17.833Z,1758399917.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.817191 target range: 24.097076 and range: 24.20 m.
2025-09-20T20:25:17.989Z,1758399917.989 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.435570
2025-09-20T20:25:18.190Z,1758399918.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:18.209Z,1758399918.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.10 m.
2025-09-20T20:25:18.216Z,1758399918.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 24.097076 m,
nav range: 23.523109 m,
bearing: 98.099472 deg,
approach rate: -0.564200 m/s,
LOS rate: -0.055771 deg/s,
cmd heading: 104.117348 deg,
new cmd heading: 104.073781 deg.
2025-09-20T20:25:18.217Z,1758399918.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.816430 target range: 24.097076 and range: 24.20 m.
2025-09-20T20:25:18.241Z,1758399918.241 [DAT](INFO): DAT read: Rx Time:20:25:20.4682
2025-09-20T20:25:18.241Z,1758399918.241 [DAT](INFO): Rx dataTimestamp_ set to:1758399918.240870
2025-09-20T20:25:18.242Z,1758399918.242 [DAT](INFO): DAT read: Bearing 275.9, -9.2 (Local)
2025-09-20T20:25:18.243Z,1758399918.243 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.9, -9.2 (Local)
2025-09-20T20:25:18.245Z,1758399918.245 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4
2025-09-20T20:25:18.250Z,1758399918.250 [DAT](INFO): DAT read: 20:25:20.4682 LVL= 18480, 23473, 15714, 27971, AGC= 57, IDX= 496,-0.41,-0.386,-1.921, 0.072,-0.458, PHS= 0.174,-1.418, 0.486, RAW= 158.8, 8.6, CAL= 158.5, 9.0, ROT= 351.5, -9.0
2025-09-20T20:25:18.251Z,1758399918.251 [DAT](INFO): got valid direction response:
20:25:20.4682 LVL= 18480, 23473, 15714, 27971, AGC= 57, IDX= 496,-0.41,-0.386,-1.921, 0.072,-0.458, PHS= 0.174,-1.418, 0.486, RAW= 158.8, 8.6, CAL= 158.5, 9.0, ROT= 351.5, -9.0
2025-09-20T20:25:18.251Z,1758399918.251 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-09-20T20:25:18.252Z,1758399918.252 [DAT](INFO): direction in FSK: [0.976839,-0.145990,0.156434]
2025-09-20T20:25:18.252Z,1758399918.252 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:18.256Z,1758399918.256 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.702749
2025-09-20T20:25:18.496Z,1758399918.496 [DAT](INFO): DAT read: Rx Time:20:25:20.9682
2025-09-20T20:25:18.497Z,1758399918.497 [DAT](INFO): Rx dataTimestamp_ set to:1758399918.496390
2025-09-20T20:25:18.500Z,1758399918.500 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.945642
2025-09-20T20:25:18.633Z,1758399918.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.700001 m,
deltaT: 0.503165 s,
deltaX: -0.500000 m,
approachRate: -0.993710 m/s,
rangeRepo size: 4
2025-09-20T20:25:18.635Z,1758399918.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.598749 m,
bearing: 97.455586 deg,
lat: 36.779299 deg,
lon: -121.859541 deg,
deltaT: 0.503165 s,
deltaX: -0.498327 m,
approachRate: -0.990385 m/s,
posRepo size: 4
2025-09-20T20:25:18.636Z,1758399918.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.60 m.
2025-09-20T20:25:18.638Z,1758399918.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.598749 m,
nav range: 23.283667 m,
bearing: 97.857466 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.055771 deg/s,
cmd heading: 104.073778 deg,
new cmd heading: 104.026638 deg.
2025-09-20T20:25:18.639Z,1758399918.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.815607 target range: 23.598749 and range: 23.70 m.
2025-09-20T20:25:18.749Z,1758399918.749 [DAT](INFO): DAT read: Bearing 276.0, -9.3 (Local)
2025-09-20T20:25:18.751Z,1758399918.751 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.0, -9.3 (Local)
2025-09-20T20:25:18.758Z,1758399918.758 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4
2025-09-20T20:25:18.812Z,1758399918.812 [DAT](INFO): DAT read: 20:25:20.9682 LVL= 18864, 24561, 14578, 26387, AGC= 57, IDX= 511,-0.10, 1.653, 0.114, 2.116, 1.586, PHS= 0.169,-1.427, 0.486, RAW= 158.9, 8.7, CAL= 158.6, 9.2, ROT= 351.4, -9.2
2025-09-20T20:25:18.813Z,1758399918.813 [DAT](INFO): got valid direction response:
20:25:20.9682 LVL= 18864, 24561, 14578, 26387, AGC= 57, IDX= 511,-0.10, 1.653, 0.114, 2.116, 1.586, PHS= 0.169,-1.427, 0.486, RAW= 158.9, 8.7, CAL= 158.6, 9.2, ROT= 351.4, -9.2
2025-09-20T20:25:18.813Z,1758399918.813 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-09-20T20:25:18.814Z,1758399918.814 [DAT](INFO): direction in FSK: [0.976037,-0.147612,0.159881]
2025-09-20T20:25:18.814Z,1758399918.814 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:18.822Z,1758399918.822 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.268921
2025-09-20T20:25:19.001Z,1758399919.001 [DAT](INFO): DAT read: Rx Time:20:25:21.4679
2025-09-20T20:25:19.003Z,1758399919.003 [DAT](INFO): Rx dataTimestamp_ set to:1758399919.001881
2025-09-20T20:25:19.006Z,1758399919.006 [DAT](INFO): DAT read: Bearing 275.2, -9.1 (Local)
2025-09-20T20:25:19.012Z,1758399919.012 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.2, -9.1 (Local)
2025-09-20T20:25:19.016Z,1758399919.016 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4
2025-09-20T20:25:19.044Z,1758399919.044 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-09-20T20:25:19.059Z,1758399919.059 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.506050
2025-09-20T20:25:19.189Z,1758399919.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.299999 m,
deltaT: 0.761011 s,
deltaX: -0.400002 m,
approachRate: -0.525619 m/s,
rangeRepo size: 4
2025-09-20T20:25:19.195Z,1758399919.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.200079 m,
bearing: 97.362505 deg,
lat: 36.779299 deg,
lon: -121.859541 deg,
deltaT: 0.761011 s,
deltaX: -0.398670 m,
approachRate: -0.523869 m/s,
posRepo size: 4
2025-09-20T20:25:19.196Z,1758399919.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-09-20T20:25:19.199Z,1758399919.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.200079 m,
nav range: 22.989517 m,
bearing: 97.766140 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.055771 deg/s,
cmd heading: 104.026636 deg,
new cmd heading: 103.964484 deg.
2025-09-20T20:25:19.200Z,1758399919.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.814523 target range: 23.200079 and range: 23.30 m.
2025-09-20T20:25:19.252Z,1758399919.252 [DAT](INFO): DAT read: 20:25:21.4679 LVL= 18160, 25185, 14546, 27027, AGC= 57, IDX= 508, 0.19, 2.842, 1.279,-2.984, 2.748, PHS= 0.195,-1.425, 0.507, RAW= 158.6, 8.1, CAL= 158.2, 8.4, ROT= 351.8, -8.4
2025-09-20T20:25:19.253Z,1758399919.253 [DAT](INFO): got valid direction response:
20:25:21.4679 LVL= 18160, 25185, 14546, 27027, AGC= 57, IDX= 508, 0.19, 2.842, 1.279,-2.984, 2.748, PHS= 0.195,-1.425, 0.507, RAW= 158.6, 8.1, CAL= 158.2, 8.4, ROT= 351.8, -8.4
2025-09-20T20:25:19.253Z,1758399919.253 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-09-20T20:25:19.254Z,1758399919.254 [DAT](INFO): direction in FSK: [0.979158,-0.141099,0.146083]
2025-09-20T20:25:19.258Z,1758399919.258 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.704903
2025-09-20T20:25:19.507Z,1758399919.507 [DAT](INFO): DAT read: Rx Time:20:25:21.9679
2025-09-20T20:25:19.508Z,1758399919.508 [DAT](INFO): Rx dataTimestamp_ set to:1758399919.507212
2025-09-20T20:25:19.550Z,1758399919.550 [DAT](INFO): DAT read: Bearing 275.8, -9.5 (Local)
2025-09-20T20:25:19.550Z,1758399919.550 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -9.5 (Local)
2025-09-20T20:25:19.552Z,1758399919.552 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.4
2025-09-20T20:25:19.577Z,1758399919.577 [DAT](INFO): DAT read: 20:25:21.9679 LVL= 18656, 24721, 15890, 29267, AGC= 57, IDX= 508,-0.34, 1.990, 0.463, 2.457, 1.921, PHS= 0.171,-1.412, 0.492, RAW= 159.1, 8.5, CAL= 158.7, 8.9, ROT= 351.3, -8.9
2025-09-20T20:25:19.578Z,1758399919.578 [DAT](INFO): got valid direction response:
20:25:21.9679 LVL= 18656, 24721, 15890, 29267, AGC= 57, IDX= 508,-0.34, 1.990, 0.463, 2.457, 1.921, PHS= 0.171,-1.412, 0.492, RAW= 159.1, 8.5, CAL= 158.7, 8.9, ROT= 351.3, -8.9
2025-09-20T20:25:19.578Z,1758399919.578 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-09-20T20:25:19.588Z,1758399919.588 [DAT](INFO): direction in FSK: [0.976592,-0.149440,0.154710]
2025-09-20T20:25:19.588Z,1758399919.588 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:19.616Z,1758399919.616 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.062494
2025-09-20T20:25:19.756Z,1758399919.756 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.202286
2025-09-20T20:25:19.787Z,1758399919.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 23.299999 m,
deltaT: 0.505331 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:19.791Z,1758399919.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 23.200079 m,
bearing: 97.233931 deg,
lat: 36.779301 deg,
lon: -121.859540 deg,
deltaT: 0.505331 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:19.796Z,1758399919.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.20 m.
2025-09-20T20:25:19.804Z,1758399919.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 23.200079 m,
nav range: 22.765980 m,
bearing: 97.379689 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.055771 deg/s,
cmd heading: 103.964481 deg,
new cmd heading: 103.898367 deg.
2025-09-20T20:25:19.805Z,1758399919.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.813369 target range: 23.200079 and range: 23.30 m.
2025-09-20T20:25:20.008Z,1758399920.008 [DAT](INFO): DAT read: Rx Time:20:25:22.4676
2025-09-20T20:25:20.010Z,1758399920.010 [DAT](INFO): Rx dataTimestamp_ set to:1758399920.008625
2025-09-20T20:25:20.018Z,1758399920.018 [DAT](INFO): DAT read: Bearing 275.9, -9.6 (Local)
2025-09-20T20:25:20.024Z,1758399920.024 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.9, -9.6 (Local)
2025-09-20T20:25:20.034Z,1758399920.034 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4
2025-09-20T20:25:20.072Z,1758399920.072 [DAT](INFO): DAT read: 20:25:22.4676 LVL= 19152, 23921, 17122, 30083, AGC= 57, IDX= 505,-0.01, 1.513,-0.016, 1.984, 1.448, PHS= 0.167,-1.420, 0.492, RAW= 159.1, 8.6, CAL= 158.8, 9.0, ROT= 351.2, -9.0
2025-09-20T20:25:20.073Z,1758399920.073 [DAT](INFO): got valid direction response:
20:25:22.4676 LVL= 19152, 23921, 17122, 30083, AGC= 57, IDX= 505,-0.01, 1.513,-0.016, 1.984, 1.448, PHS= 0.167,-1.420, 0.492, RAW= 159.1, 8.6, CAL= 158.8, 9.0, ROT= 351.2, -9.0
2025-09-20T20:25:20.073Z,1758399920.073 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-09-20T20:25:20.074Z,1758399920.074 [DAT](INFO): direction in FSK: [0.976062,-0.151102,0.156434]
2025-09-20T20:25:20.074Z,1758399920.074 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:20.086Z,1758399920.086 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.532827
2025-09-20T20:25:20.220Z,1758399920.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.799999 m,
deltaT: 0.501413 s,
deltaX: -0.500000 m,
approachRate: -0.997182 m/s,
rangeRepo size: 4
2025-09-20T20:25:20.222Z,1758399920.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.701515 m,
bearing: 97.150795 deg,
lat: 36.779301 deg,
lon: -121.859540 deg,
deltaT: 0.501413 s,
deltaX: -0.498564 m,
approachRate: -0.994318 m/s,
posRepo size: 4
2025-09-20T20:25:20.223Z,1758399920.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m.
2025-09-20T20:25:20.229Z,1758399920.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.701515 m,
nav range: 22.482521 m,
bearing: 97.253549 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.055771 deg/s,
cmd heading: 103.898365 deg,
new cmd heading: 103.849968 deg.
2025-09-20T20:25:20.230Z,1758399920.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.812524 target range: 22.701515 and range: 22.80 m.
2025-09-20T20:25:20.256Z,1758399920.256 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.703232
2025-09-20T20:25:20.511Z,1758399920.511 [DAT](INFO): DAT read: Rx Time:20:25:22.9674
2025-09-20T20:25:20.513Z,1758399920.513 [DAT](INFO): Rx dataTimestamp_ set to:1758399920.511905
2025-09-20T20:25:20.517Z,1758399920.517 [DAT](INFO): DAT read: Bearing 275.4, -9.6 (Local)
2025-09-20T20:25:20.518Z,1758399920.518 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.4, -9.6 (Local)
2025-09-20T20:25:20.526Z,1758399920.526 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4
2025-09-20T20:25:20.529Z,1758399920.529 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-09-20T20:25:20.533Z,1758399920.533 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.979486
2025-09-20T20:25:20.576Z,1758399920.576 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:20.583Z,1758399920.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.500000 m,
deltaT: 0.503280 s,
deltaX: -0.299999 m,
approachRate: -0.596088 m/s,
rangeRepo size: 4
2025-09-20T20:25:20.584Z,1758399920.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m.
2025-09-20T20:25:20.587Z,1758399920.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.701515 m,
nav range: 22.291124 m,
bearing: 97.227915 deg,
approach rate: -0.526863 m/s,
LOS rate: -0.071169 deg/s,
cmd heading: 103.849966 deg,
new cmd heading: 103.798259 deg.
2025-09-20T20:25:20.608Z,1758399920.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811621 target range: 22.701515 and range: 22.50 m.
2025-09-20T20:25:20.777Z,1758399920.777 [DAT](INFO): DAT read: 20:25:22.9674 LVL= 20048, 25057, 17970, 28275, AGC= 57, IDX= 503, 0.31, 2.752, 1.205,-3.056, 2.671, PHS= 0.182,-1.422, 0.512, RAW= 159.2, 8.2, CAL= 158.8, 8.4, ROT= 351.2, -8.4
2025-09-20T20:25:20.782Z,1758399920.782 [DAT](INFO): got valid direction response:
20:25:22.9674 LVL= 20048, 25057, 17970, 28275, AGC= 57, IDX= 503, 0.31, 2.752, 1.205,-3.056, 2.671, PHS= 0.182,-1.422, 0.512, RAW= 159.2, 8.2, CAL= 158.8, 8.4, ROT= 351.2, -8.4
2025-09-20T20:25:20.798Z,1758399920.798 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-09-20T20:25:20.804Z,1758399920.804 [DAT](INFO): direction in FSK: [0.977627,-0.151344,0.146083]
2025-09-20T20:25:20.813Z,1758399920.813 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.259638
2025-09-20T20:25:20.930Z,1758399920.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.70 m.
2025-09-20T20:25:20.933Z,1758399920.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.701515 m,
nav range: 22.095711 m,
bearing: 97.210617 deg,
approach rate: -0.555124 m/s,
LOS rate: -0.049574 deg/s,
cmd heading: 103.798262 deg,
new cmd heading: 103.763360 deg.
2025-09-20T20:25:20.934Z,1758399920.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.811012 target range: 22.701515 and range: 22.50 m.
2025-09-20T20:25:21.016Z,1758399921.016 [DAT](INFO): DAT read: Rx Time:20:25:23.4672
2025-09-20T20:25:21.017Z,1758399921.017 [DAT](INFO): Rx dataTimestamp_ set to:1758399921.016327
2025-09-20T20:25:21.020Z,1758399921.020 [DAT](INFO): DAT read: Bearing 276.2, -10.3 (Local)
2025-09-20T20:25:21.021Z,1758399921.021 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.2, -10.3 (Local)
2025-09-20T20:25:21.027Z,1758399921.027 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.4
2025-09-20T20:25:21.030Z,1758399921.030 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-09-20T20:25:21.034Z,1758399921.034 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.480085
2025-09-20T20:25:21.272Z,1758399921.272 [DAT](INFO): DAT read: 20:25:23.4672 LVL= 23536, 26161, 19506, 32755, AGC= 58, IDX= 501,-0.22,-0.835,-2.354,-0.344,-0.885, PHS= 0.152,-1.424, 0.496, RAW= 159.7, 8.8, CAL= 159.4, 9.2, ROT= 350.6, -9.2
2025-09-20T20:25:21.274Z,1758399921.274 [DAT](INFO): got valid direction response:
20:25:23.4672 LVL= 23536, 26161, 19506, 32755, AGC= 58, IDX= 501,-0.22,-0.835,-2.354,-0.344,-0.885, PHS= 0.152,-1.424, 0.496, RAW= 159.7, 8.8, CAL= 159.4, 9.2, ROT= 350.6, -9.2
2025-09-20T20:25:21.275Z,1758399921.275 [DAT](INFO): #Rx 52: Read direction message, but no range.
2025-09-20T20:25:21.276Z,1758399921.276 [DAT](INFO): direction in FSK: [0.973881,-0.161225,0.159881]
2025-09-20T20:25:21.299Z,1758399921.299 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.746231
2025-09-20T20:25:21.380Z,1758399921.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.200001 m,
deltaT: 0.504422 s,
deltaX: -0.299999 m,
approachRate: -0.594739 m/s,
rangeRepo size: 4
2025-09-20T20:25:21.382Z,1758399921.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.103821 m,
bearing: 96.588791 deg,
lat: 36.779301 deg,
lon: -121.859540 deg,
deltaT: 1.007702 s,
deltaX: -0.597694 m,
approachRate: -0.593126 m/s,
posRepo size: 4
2025-09-20T20:25:21.387Z,1758399921.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.10 m.
2025-09-20T20:25:21.390Z,1758399921.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.103821 m,
nav range: 21.863478 m,
bearing: 97.190879 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.049574 deg/s,
cmd heading: 103.763360 deg,
new cmd heading: 103.718794 deg.
2025-09-20T20:25:21.395Z,1758399921.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.810234 target range: 22.103821 and range: 22.20 m.
2025-09-20T20:25:21.521Z,1758399921.521 [DAT](INFO): DAT read: Rx Time:20:25:23.9671
2025-09-20T20:25:21.523Z,1758399921.523 [DAT](INFO): Rx dataTimestamp_ set to:1758399921.521404
2025-09-20T20:25:21.527Z,1758399921.527 [DAT](INFO): DAT read: Bearing 276.1, -10.3 (Local)
2025-09-20T20:25:21.529Z,1758399921.529 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.1, -10.3 (Local)
2025-09-20T20:25:21.583Z,1758399921.583 [DAT](INFO): DAT read: Range 11 to 50 : 22.1 m (trip time 14.7 ms) speed 0.4
2025-09-20T20:25:21.606Z,1758399921.606 [DAT](INFO): DAT read: 20:25:23.9671 LVL= 25024, 24673, 21058, 32755, AGC= 58, IDX= 500, 0.07, 1.364,-0.171, 1.858, 1.308, PHS= 0.158,-1.434, 0.506, RAW= 159.7, 8.6, CAL= 159.4, 9.0, ROT= 350.6, -9.0
2025-09-20T20:25:21.619Z,1758399921.619 [DAT](INFO): got valid direction response:
20:25:23.9671 LVL= 25024, 24673, 21058, 32755, AGC= 58, IDX= 500, 0.07, 1.364,-0.171, 1.858, 1.308, PHS= 0.158,-1.434, 0.506, RAW= 159.7, 8.6, CAL= 159.4, 9.0, ROT= 350.6, -9.0
2025-09-20T20:25:21.620Z,1758399921.620 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-09-20T20:25:21.621Z,1758399921.621 [DAT](INFO): direction in FSK: [0.974426,-0.161315,0.156434]
2025-09-20T20:25:21.621Z,1758399921.621 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:21.634Z,1758399921.634 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.080404
2025-09-20T20:25:21.773Z,1758399921.773 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.219332
2025-09-20T20:25:21.831Z,1758399921.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 22.100000 m,
deltaT: 0.505077 s,
deltaX: -0.100000 m,
approachRate: -0.197990 m/s,
rangeRepo size: 4
2025-09-20T20:25:21.833Z,1758399921.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 22.004253 m,
bearing: 96.578388 deg,
lat: 36.779301 deg,
lon: -121.859540 deg,
deltaT: 0.505077 s,
deltaX: -0.099567 m,
approachRate: -0.197133 m/s,
posRepo size: 4
2025-09-20T20:25:21.834Z,1758399921.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-09-20T20:25:21.841Z,1758399921.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.004253 m,
nav range: 21.642475 m,
bearing: 97.052964 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.049574 deg/s,
cmd heading: 103.718793 deg,
new cmd heading: 103.674522 deg.
2025-09-20T20:25:21.842Z,1758399921.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.809462 target range: 22.004253 and range: 22.10 m.
2025-09-20T20:25:22.025Z,1758399922.025 [DAT](INFO): DAT read: Rx Time:20:25:24.4668
2025-09-20T20:25:22.027Z,1758399922.027 [DAT](INFO): Rx dataTimestamp_ set to:1758399922.025542
2025-09-20T20:25:22.031Z,1758399922.031 [DAT](INFO): DAT read: Bearing 276.0, -10.3 (Local)
2025-09-20T20:25:22.032Z,1758399922.032 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.0, -10.3 (Local)
2025-09-20T20:25:22.039Z,1758399922.039 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4
2025-09-20T20:25:22.042Z,1758399922.042 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-09-20T20:25:22.046Z,1758399922.046 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.492153
2025-09-20T20:25:22.228Z,1758399922.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 0.504138 s,
deltaX: -0.500000 m,
approachRate: -0.991792 m/s,
rangeRepo size: 4
2025-09-20T20:25:22.229Z,1758399922.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.00 m.
2025-09-20T20:25:22.236Z,1758399922.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 22.004253 m,
nav range: 21.403399 m,
bearing: 97.020331 deg,
approach rate: -0.595383 m/s,
LOS rate: -0.082176 deg/s,
cmd heading: 103.674519 deg,
new cmd heading: 103.608524 deg.
2025-09-20T20:25:22.237Z,1758399922.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.808310 target range: 22.004253 and range: 21.60 m.
2025-09-20T20:25:22.281Z,1758399922.281 [DAT](INFO): DAT read: 20:25:24.4668 LVL= 23152, 24513, 18386, 32291, AGC= 57, IDX= 497, 0.38, 0.388,-1.144, 0.884, 0.330, PHS= 0.160,-1.429, 0.510, RAW= 159.7, 8.5, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:22.283Z,1758399922.283 [DAT](INFO): got valid direction response:
20:25:24.4668 LVL= 23152, 24513, 18386, 32291, AGC= 57, IDX= 497, 0.38, 0.388,-1.144, 0.884, 0.330, PHS= 0.160,-1.429, 0.510, RAW= 159.7, 8.5, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:22.284Z,1758399922.284 [DAT](INFO): #Rx 55: Read direction message, but no range.
2025-09-20T20:25:22.286Z,1758399922.286 [DAT](INFO): direction in FSK: [0.974694,-0.161359,0.154710]
2025-09-20T20:25:22.305Z,1758399922.305 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.751858
2025-09-20T20:25:22.530Z,1758399922.530 [DAT](INFO): DAT read: Rx Time:20:25:24.9668
2025-09-20T20:25:22.531Z,1758399922.531 [DAT](INFO): Rx dataTimestamp_ set to:1758399922.530409
2025-09-20T20:25:22.535Z,1758399922.535 [DAT](INFO): DAT read: Bearing 269.2, -13.3 (Local)
2025-09-20T20:25:22.537Z,1758399922.537 [DAT](INFO): Local bearing/azimuth received:
Bearing 269.2, -13.3 (Local)
2025-09-20T20:25:22.551Z,1758399922.551 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.4
2025-09-20T20:25:22.567Z,1758399922.567 [DAT](INFO): DAT read: 20:25:24.9668 LVL= 21616, 23601, 17394, 32403, AGC= 57, IDX= 513,-0.21, 0.584,-0.833, 1.214, 0.464, PHS= 0.222,-1.252, 0.706, RAW= 163.7, 3.7, CAL= 162.6, 2.3, ROT= 347.4, -2.3
2025-09-20T20:25:22.568Z,1758399922.568 [DAT](INFO): got valid direction response:
20:25:24.9668 LVL= 21616, 23601, 17394, 32403, AGC= 57, IDX= 513,-0.21, 0.584,-0.833, 1.214, 0.464, PHS= 0.222,-1.252, 0.706, RAW= 163.7, 3.7, CAL= 162.6, 2.3, ROT= 347.4, -2.3
2025-09-20T20:25:22.569Z,1758399922.569 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-09-20T20:25:22.570Z,1758399922.570 [DAT](INFO): direction in FSK: [0.975131,-0.217967,0.040132]
2025-09-20T20:25:22.570Z,1758399922.570 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:22.598Z,1758399922.598 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.044630
2025-09-20T20:25:22.648Z,1758399922.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.600000 m,
deltaT: 0.504867 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:22.650Z,1758399922.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 21.506140 m,
bearing: 93.190159 deg,
lat: 36.779303 deg,
lon: -121.859539 deg,
deltaT: 1.009005 s,
deltaX: -0.498114 m,
approachRate: -0.493668 m/s,
posRepo size: 4
2025-09-20T20:25:22.651Z,1758399922.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.51 m.
2025-09-20T20:25:22.653Z,1758399922.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.506140 m,
nav range: 21.304922 m,
bearing: 96.507184 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.082176 deg/s,
cmd heading: 103.608526 deg,
new cmd heading: 103.540322 deg.
2025-09-20T20:25:22.654Z,1758399922.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807119 target range: 21.506140 and range: 21.60 m.
2025-09-20T20:25:22.781Z,1758399922.781 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.226896
2025-09-20T20:25:23.032Z,1758399923.032 [DAT](INFO): DAT read: Rx Time:20:25:25.4666
2025-09-20T20:25:23.034Z,1758399923.034 [DAT](INFO): Rx dataTimestamp_ set to:1758399923.033124
2025-09-20T20:25:23.039Z,1758399923.039 [DAT](INFO): DAT read: Bearing 276.1, -10.4 (Local)
2025-09-20T20:25:23.040Z,1758399923.040 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.1, -10.4 (Local)
2025-09-20T20:25:23.047Z,1758399923.047 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.4
2025-09-20T20:25:23.050Z,1758399923.050 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-09-20T20:25:23.052Z,1758399923.052 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.499016
2025-09-20T20:25:23.067Z,1758399923.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:23.070Z,1758399923.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.200001 m,
deltaT: 0.502715 s,
deltaX: -0.400000 m,
approachRate: -0.795679 m/s,
rangeRepo size: 4
2025-09-20T20:25:23.070Z,1758399923.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.51 m.
2025-09-20T20:25:23.077Z,1758399923.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.506140 m,
nav range: 21.098068 m,
bearing: 96.485252 deg,
approach rate: -0.485169 m/s,
LOS rate: -0.051944 deg/s,
cmd heading: 103.540320 deg,
new cmd heading: 103.496026 deg.
2025-09-20T20:25:23.078Z,1758399923.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.806346 target range: 21.506140 and range: 21.20 m.
2025-09-20T20:25:23.290Z,1758399923.290 [DAT](INFO): DAT read: 20:25:25.4666 LVL= 21680, 26545, 17858, 31731, AGC= 57, IDX= 510, 0.01, 0.465,-1.059, 0.966, 0.413, PHS= 0.155,-1.427, 0.510, RAW= 159.9, 8.6, CAL= 159.6, 8.9, ROT= 350.4, -8.9
2025-09-20T20:25:23.292Z,1758399923.292 [DAT](INFO): got valid direction response:
20:25:25.4666 LVL= 21680, 26545, 17858, 31731, AGC= 57, IDX= 510, 0.01, 0.465,-1.059, 0.966, 0.413, PHS= 0.155,-1.427, 0.510, RAW= 159.9, 8.6, CAL= 159.6, 8.9, ROT= 350.4, -8.9
2025-09-20T20:25:23.292Z,1758399923.292 [DAT](INFO): #Rx 58: Read direction message, but no range.
2025-09-20T20:25:23.293Z,1758399923.293 [DAT](INFO): direction in FSK: [0.974124,-0.164761,0.154710]
2025-09-20T20:25:23.307Z,1758399923.307 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.749554
2025-09-20T20:25:23.394Z,1758399923.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.51 m.
2025-09-20T20:25:23.397Z,1758399923.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 21.506140 m,
nav range: 20.895575 m,
bearing: 96.463362 deg,
approach rate: -0.623247 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.496026 deg,
new cmd heading: 103.451821 deg.
2025-09-20T20:25:23.398Z,1758399923.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.805575 target range: 21.506140 and range: 21.20 m.
2025-09-20T20:25:23.538Z,1758399923.538 [DAT](INFO): DAT read: Rx Time:20:25:25.9665
2025-09-20T20:25:23.540Z,1758399923.540 [DAT](INFO): Rx dataTimestamp_ set to:1758399923.539309
2025-09-20T20:25:23.545Z,1758399923.545 [DAT](INFO): DAT read: Bearing 275.7, -10.2 (Local)
2025-09-20T20:25:23.546Z,1758399923.546 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -10.2 (Local)
2025-09-20T20:25:23.586Z,1758399923.586 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4
2025-09-20T20:25:23.606Z,1758399923.606 [DAT](INFO): DAT read: 20:25:25.9665 LVL= 20880, 24049, 16722, 29555, AGC= 57, IDX= 509, 0.23, 2.980, 1.447,-2.804, 2.917, PHS= 0.165,-1.425, 0.518, RAW= 159.8, 8.3, CAL= 159.5, 8.6, ROT= 350.5, -8.6
2025-09-20T20:25:23.616Z,1758399923.616 [DAT](INFO): got valid direction response:
20:25:25.9665 LVL= 20880, 24049, 16722, 29555, AGC= 57, IDX= 509, 0.23, 2.980, 1.447,-2.804, 2.917, PHS= 0.165,-1.425, 0.518, RAW= 159.8, 8.3, CAL= 159.5, 8.6, ROT= 350.5, -8.6
2025-09-20T20:25:23.617Z,1758399923.617 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-09-20T20:25:23.617Z,1758399923.617 [DAT](INFO): direction in FSK: [0.975196,-0.163192,0.149535]
2025-09-20T20:25:23.618Z,1758399923.618 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:23.633Z,1758399923.633 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.079742
2025-09-20T20:25:23.789Z,1758399923.789 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.234468
2025-09-20T20:25:23.905Z,1758399923.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 21.000000 m,
deltaT: 0.506185 s,
deltaX: -0.200001 m,
approachRate: -0.395114 m/s,
rangeRepo size: 4
2025-09-20T20:25:23.908Z,1758399923.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.908251 m,
bearing: 96.524651 deg,
lat: 36.779303 deg,
lon: -121.859539 deg,
deltaT: 1.008900 s,
deltaX: -0.597889 m,
approachRate: -0.592615 m/s,
posRepo size: 4
2025-09-20T20:25:23.908Z,1758399923.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.91 m.
2025-09-20T20:25:23.912Z,1758399923.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.908251 m,
nav range: 20.634769 m,
bearing: 96.437907 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.451821 deg,
new cmd heading: 103.382331 deg.
2025-09-20T20:25:23.913Z,1758399923.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.804362 target range: 20.908251 and range: 21.00 m.
2025-09-20T20:25:24.043Z,1758399924.043 [DAT](INFO): DAT read: Rx Time:20:25:26.4662
2025-09-20T20:25:24.045Z,1758399924.045 [DAT](INFO): Rx dataTimestamp_ set to:1758399924.043902
2025-09-20T20:25:24.051Z,1758399924.051 [DAT](INFO): DAT read: Bearing 276.1, -10.5 (Local)
2025-09-20T20:25:24.063Z,1758399924.063 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.1, -10.5 (Local)
2025-09-20T20:25:24.065Z,1758399924.065 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.4
2025-09-20T20:25:24.078Z,1758399924.078 [DAT](INFO): DAT read: 20:25:26.4662 LVL= 21744, 23857, 17378, 30115, AGC= 57, IDX= 507,-0.41, 0.260,-1.254, 0.765, 0.213, PHS= 0.150,-1.421, 0.508, RAW= 160.1, 8.6, CAL= 159.8, 9.0, ROT= 350.2, -9.0
2025-09-20T20:25:24.100Z,1758399924.100 [DAT](INFO): got valid direction response:
20:25:26.4662 LVL= 21744, 23857, 17378, 30115, AGC= 57, IDX= 507,-0.41, 0.260,-1.254, 0.765, 0.213, PHS= 0.150,-1.421, 0.508, RAW= 160.1, 8.6, CAL= 159.8, 9.0, ROT= 350.2, -9.0
2025-09-20T20:25:24.100Z,1758399924.100 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-09-20T20:25:24.102Z,1758399924.102 [DAT](INFO): direction in FSK: [0.973276,-0.168114,0.156434]
2025-09-20T20:25:24.102Z,1758399924.102 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:24.123Z,1758399924.123 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.570185
2025-09-20T20:25:24.289Z,1758399924.289 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.735752
2025-09-20T20:25:24.290Z,1758399924.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.600000 m,
deltaT: 0.504593 s,
deltaX: -0.400000 m,
approachRate: -0.792717 m/s,
rangeRepo size: 4
2025-09-20T20:25:24.296Z,1758399924.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.509516 m,
bearing: 96.267695 deg,
lat: 36.779303 deg,
lon: -121.859539 deg,
deltaT: 0.504593 s,
deltaX: -0.398735 m,
approachRate: -0.790211 m/s,
posRepo size: 4
2025-09-20T20:25:24.297Z,1758399924.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.51 m.
2025-09-20T20:25:24.305Z,1758399924.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.509516 m,
nav range: 20.435446 m,
bearing: 96.360275 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.382331 deg,
new cmd heading: 103.330987 deg.
2025-09-20T20:25:24.305Z,1758399924.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.803466 target range: 20.509516 and range: 20.60 m.
2025-09-20T20:25:24.546Z,1758399924.546 [DAT](INFO): DAT read: Rx Time:20:25:26.9661
2025-09-20T20:25:24.549Z,1758399924.549 [DAT](INFO): Rx dataTimestamp_ set to:1758399924.546171
2025-09-20T20:25:24.553Z,1758399924.553 [DAT](INFO): DAT read: Bearing 276.3, -10.6 (Local)
2025-09-20T20:25:24.553Z,1758399924.553 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.3, -10.6 (Local)
2025-09-20T20:25:24.556Z,1758399924.556 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4
2025-09-20T20:25:24.561Z,1758399924.561 [DAT](INFO): DAT read: 20:25:26.9661 LVL= 19952, 25857, 16466, 28515, AGC= 57, IDX= 505,-0.12, 0.131,-1.381, 0.640, 0.091, PHS= 0.143,-1.426, 0.506, RAW= 160.2, 8.8, CAL= 159.9, 9.2, ROT= 350.1, -9.2
2025-09-20T20:25:24.562Z,1758399924.562 [DAT](INFO): got valid direction response:
20:25:26.9661 LVL= 19952, 25857, 16466, 28515, AGC= 57, IDX= 505,-0.12, 0.131,-1.381, 0.640, 0.091, PHS= 0.143,-1.426, 0.506, RAW= 160.2, 8.8, CAL= 159.9, 9.2, ROT= 350.1, -9.2
2025-09-20T20:25:24.562Z,1758399924.562 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-09-20T20:25:24.564Z,1758399924.564 [DAT](INFO): direction in FSK: [0.972437,-0.169717,0.159881]
2025-09-20T20:25:24.564Z,1758399924.564 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:24.568Z,1758399924.568 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.014465
2025-09-20T20:25:24.702Z,1758399924.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.400000 m,
deltaT: 0.502269 s,
deltaX: -0.200001 m,
approachRate: -0.398195 m/s,
rangeRepo size: 4
2025-09-20T20:25:24.706Z,1758399924.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 20.310392 m,
bearing: 96.200779 deg,
lat: 36.779304 deg,
lon: -121.859539 deg,
deltaT: 0.502269 s,
deltaX: -0.199123 m,
approachRate: -0.396448 m/s,
posRepo size: 4
2025-09-20T20:25:24.707Z,1758399924.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.31 m.
2025-09-20T20:25:24.718Z,1758399924.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 20.310392 m,
nav range: 20.197165 m,
bearing: 96.190167 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.330988 deg,
new cmd heading: 103.274024 deg.
2025-09-20T20:25:24.718Z,1758399924.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.802472 target range: 20.310392 and range: 20.40 m.
2025-09-20T20:25:24.797Z,1758399924.797 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.242981
2025-09-20T20:25:25.049Z,1758399925.049 [DAT](INFO): DAT read: Rx Time:20:25:27.4658
2025-09-20T20:25:25.051Z,1758399925.051 [DAT](INFO): Rx dataTimestamp_ set to:1758399925.049690
2025-09-20T20:25:25.053Z,1758399925.053 [DAT](INFO): DAT read: Bearing 275.8, -10.2 (Local)
2025-09-20T20:25:25.053Z,1758399925.053 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -10.2 (Local)
2025-09-20T20:25:25.055Z,1758399925.055 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.4
2025-09-20T20:25:25.064Z,1758399925.064 [DAT](INFO): DAT read: 20:25:27.4658 LVL= 20384, 24929, 16610, 28147, AGC= 58, IDX= 502, 0.10, 0.735,-0.808, 1.238, 0.675, PHS= 0.163,-1.437, 0.520, RAW= 159.9, 8.4, CAL= 159.5, 8.7, ROT= 350.5, -8.7
2025-09-20T20:25:25.065Z,1758399925.065 [DAT](INFO): got valid direction response:
20:25:27.4658 LVL= 20384, 24929, 16610, 28147, AGC= 58, IDX= 502, 0.10, 0.735,-0.808, 1.238, 0.675, PHS= 0.163,-1.437, 0.520, RAW= 159.9, 8.4, CAL= 159.5, 8.7, ROT= 350.5, -8.7
2025-09-20T20:25:25.065Z,1758399925.065 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-09-20T20:25:25.066Z,1758399925.066 [DAT](INFO): direction in FSK: [0.974937,-0.163148,0.151261]
2025-09-20T20:25:25.066Z,1758399925.066 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:25.074Z,1758399925.074 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.520960
2025-09-20T20:25:25.236Z,1758399925.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 20.000000 m,
deltaT: 0.503519 s,
deltaX: -0.400000 m,
approachRate: -0.794408 m/s,
rangeRepo size: 4
2025-09-20T20:25:25.238Z,1758399925.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.912142 m,
bearing: 96.608540 deg,
lat: 36.779304 deg,
lon: -121.859540 deg,
deltaT: 0.503519 s,
deltaX: -0.398251 m,
approachRate: -0.790935 m/s,
posRepo size: 4
2025-09-20T20:25:25.244Z,1758399925.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.91 m.
2025-09-20T20:25:25.246Z,1758399925.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.912142 m,
nav range: 19.768852 m,
bearing: 96.212012 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.274024 deg,
new cmd heading: 103.201274 deg.
2025-09-20T20:25:25.252Z,1758399925.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.801202 target range: 19.912142 and range: 20.00 m.
2025-09-20T20:25:25.296Z,1758399925.296 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.742964
2025-09-20T20:25:25.552Z,1758399925.552 [DAT](INFO): DAT read: Rx Time:20:25:27.9657
2025-09-20T20:25:25.552Z,1758399925.552 [DAT](INFO): Rx dataTimestamp_ set to:1758399925.551868
2025-09-20T20:25:25.553Z,1758399925.553 [DAT](INFO): DAT read: Bearing 275.5, -10.0 (Local)
2025-09-20T20:25:25.554Z,1758399925.554 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -10.0 (Local)
2025-09-20T20:25:25.556Z,1758399925.556 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4
2025-09-20T20:25:25.560Z,1758399925.560 [DAT](INFO): DAT read: 20:25:27.9657 LVL= 18672, 24817, 14882, 26579, AGC= 56, IDX= 501, 0.37, 2.171, 0.631, 2.668, 2.103, PHS= 0.170,-1.427, 0.521, RAW= 159.7, 8.2, CAL= 159.4, 8.5, ROT= 350.6, -8.5
2025-09-20T20:25:25.561Z,1758399925.561 [DAT](INFO): got valid direction response:
20:25:27.9657 LVL= 18672, 24817, 14882, 26579, AGC= 56, IDX= 501, 0.37, 2.171, 0.631, 2.668, 2.103, PHS= 0.170,-1.427, 0.521, RAW= 159.7, 8.2, CAL= 159.4, 8.5, ROT= 350.6, -8.5
2025-09-20T20:25:25.562Z,1758399925.562 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-09-20T20:25:25.563Z,1758399925.563 [DAT](INFO): direction in FSK: [0.975736,-0.161532,0.147809]
2025-09-20T20:25:25.563Z,1758399925.563 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:25.568Z,1758399925.568 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.013575
2025-09-20T20:25:25.689Z,1758399925.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.799999 m,
deltaT: 0.502178 s,
deltaX: -0.200001 m,
approachRate: -0.398267 m/s,
rangeRepo size: 4
2025-09-20T20:25:25.698Z,1758399925.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.713020 m,
bearing: 96.732425 deg,
lat: 36.779303 deg,
lon: -121.859540 deg,
deltaT: 0.502178 s,
deltaX: -0.199121 m,
approachRate: -0.396516 m/s,
posRepo size: 4
2025-09-20T20:25:25.698Z,1758399925.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.71 m.
2025-09-20T20:25:25.705Z,1758399925.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.713020 m,
nav range: 19.512894 m,
bearing: 96.517962 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.201276 deg,
new cmd heading: 103.139648 deg.
2025-09-20T20:25:25.706Z,1758399925.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.800126 target range: 19.713020 and range: 19.80 m.
2025-09-20T20:25:25.804Z,1758399925.804 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.250240
2025-09-20T20:25:26.053Z,1758399926.053 [DAT](INFO): DAT read: Rx Time:20:25:28.4655
2025-09-20T20:25:26.053Z,1758399926.053 [DAT](INFO): Rx dataTimestamp_ set to:1758399926.052881
2025-09-20T20:25:26.054Z,1758399926.054 [DAT](INFO): DAT read: Bearing 276.1, -10.3 (Local)
2025-09-20T20:25:26.055Z,1758399926.055 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.1, -10.3 (Local)
2025-09-20T20:25:26.057Z,1758399926.057 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed 0.4
2025-09-20T20:25:26.062Z,1758399926.062 [DAT](INFO): DAT read: 20:25:28.4655 LVL= 19312, 24689, 15314, 27411, AGC= 56, IDX= 499,-0.27,-0.957,-2.468,-0.454,-1.003, PHS= 0.147,-1.420, 0.505, RAW= 160.0, 8.7, CAL= 159.8, 9.1, ROT= 350.2, -9.1
2025-09-20T20:25:26.063Z,1758399926.063 [DAT](INFO): got valid direction response:
20:25:28.4655 LVL= 19312, 24689, 15314, 27411, AGC= 56, IDX= 499,-0.27,-0.957,-2.468,-0.454,-1.003, PHS= 0.147,-1.420, 0.505, RAW= 160.0, 8.7, CAL= 159.8, 9.1, ROT= 350.2, -9.1
2025-09-20T20:25:26.076Z,1758399926.076 [DAT](INFO): #Rx 64: Read range and direction messages.
2025-09-20T20:25:26.077Z,1758399926.077 [DAT](INFO): direction in FSK: [0.973005,-0.168067,0.158158]
2025-09-20T20:25:26.077Z,1758399926.077 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:26.089Z,1758399926.089 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.535521
2025-09-20T20:25:26.213Z,1758399926.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.500000 m,
deltaT: 0.501013 s,
deltaX: -0.299999 m,
approachRate: -0.598785 m/s,
rangeRepo size: 4
2025-09-20T20:25:26.219Z,1758399926.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.415058 m,
bearing: 96.339734 deg,
lat: 36.779303 deg,
lon: -121.859541 deg,
deltaT: 0.501013 s,
deltaX: -0.297962 m,
approachRate: -0.594719 m/s,
posRepo size: 4
2025-09-20T20:25:26.220Z,1758399926.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.42 m.
2025-09-20T20:25:26.222Z,1758399926.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.415058 m,
nav range: 19.191864 m,
bearing: 96.330658 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.139647 deg,
new cmd heading: 103.068404 deg.
2025-09-20T20:25:26.228Z,1758399926.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.798883 target range: 19.415058 and range: 19.50 m.
2025-09-20T20:25:26.305Z,1758399926.305 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.751600
2025-09-20T20:25:26.557Z,1758399926.557 [DAT](INFO): DAT read: Rx Time:20:25:28.9654
2025-09-20T20:25:26.557Z,1758399926.557 [DAT](INFO): Rx dataTimestamp_ set to:1758399926.556920
2025-09-20T20:25:26.558Z,1758399926.558 [DAT](INFO): DAT read: Bearing 275.8, -9.9 (Local)
2025-09-20T20:25:26.559Z,1758399926.559 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -9.9 (Local)
2025-09-20T20:25:26.561Z,1758399926.561 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4
2025-09-20T20:25:26.566Z,1758399926.566 [DAT](INFO): DAT read: 20:25:28.9654 LVL= 17392, 24881, 14626, 26995, AGC= 55, IDX= 498,-0.03, 0.252,-1.266, 0.742, 0.193, PHS= 0.160,-1.414, 0.505, RAW= 159.7, 8.5, CAL= 159.4, 8.8, ROT= 350.6, -8.8
2025-09-20T20:25:26.567Z,1758399926.567 [DAT](INFO): got valid direction response:
20:25:28.9654 LVL= 17392, 24881, 14626, 26995, AGC= 55, IDX= 498,-0.03, 0.252,-1.266, 0.742, 0.193, PHS= 0.160,-1.414, 0.505, RAW= 159.7, 8.5, CAL= 159.4, 8.8, ROT= 350.6, -8.8
2025-09-20T20:25:26.567Z,1758399926.567 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-09-20T20:25:26.568Z,1758399926.568 [DAT](INFO): direction in FSK: [0.974959,-0.161403,0.152986]
2025-09-20T20:25:26.568Z,1758399926.568 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:26.580Z,1758399926.580 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.026936
2025-09-20T20:25:26.607Z,1758399926.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 19.400000 m,
deltaT: 0.504039 s,
deltaX: -0.100000 m,
approachRate: -0.198398 m/s,
rangeRepo size: 4
2025-09-20T20:25:26.609Z,1758399926.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 19.315493 m,
bearing: 96.735914 deg,
lat: 36.779302 deg,
lon: -121.859541 deg,
deltaT: 0.504039 s,
deltaX: -0.099566 m,
approachRate: -0.197535 m/s,
posRepo size: 4
2025-09-20T20:25:26.610Z,1758399926.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-09-20T20:25:26.621Z,1758399926.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.315493 m,
nav range: 19.017599 m,
bearing: 96.543887 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068028 deg/s,
cmd heading: 103.068402 deg,
new cmd heading: 103.015850 deg.
2025-09-20T20:25:26.622Z,1758399926.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.797966 target range: 19.315493 and range: 19.40 m.
2025-09-20T20:25:26.810Z,1758399926.810 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.256859
2025-09-20T20:25:26.968Z,1758399926.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:26.970Z,1758399926.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.32 m.
2025-09-20T20:25:26.973Z,1758399926.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 19.315493 m,
nav range: 18.766499 m,
bearing: 96.508842 deg,
approach rate: -0.676343 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 103.015850 deg,
new cmd heading: 102.944821 deg.
2025-09-20T20:25:26.973Z,1758399926.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.796726 target range: 19.315493 and range: 19.40 m.
2025-09-20T20:25:27.062Z,1758399927.062 [DAT](INFO): DAT read: Rx Time:20:25:29.4651
2025-09-20T20:25:27.063Z,1758399927.063 [DAT](INFO): Rx dataTimestamp_ set to:1758399927.062394
2025-09-20T20:25:27.065Z,1758399927.065 [DAT](INFO): DAT read: Bearing 275.5, -9.5 (Local)
2025-09-20T20:25:27.065Z,1758399927.065 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -9.5 (Local)
2025-09-20T20:25:27.068Z,1758399927.068 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.5
2025-09-20T20:25:27.073Z,1758399927.073 [DAT](INFO): DAT read: 20:25:29.4651 LVL= 18352, 25425, 14658, 28019, AGC= 55, IDX= 495, 0.18, 0.496,-1.052, 0.985, 0.422, PHS= 0.176,-1.428, 0.519, RAW= 159.5, 8.2, CAL= 159.1, 8.5, ROT= 350.9, -8.5
2025-09-20T20:25:27.074Z,1758399927.074 [DAT](INFO): got valid direction response:
20:25:29.4651 LVL= 18352, 25425, 14658, 28019, AGC= 55, IDX= 495, 0.18, 0.496,-1.052, 0.985, 0.422, PHS= 0.176,-1.428, 0.519, RAW= 159.5, 8.2, CAL= 159.1, 8.5, ROT= 350.9, -8.5
2025-09-20T20:25:27.074Z,1758399927.074 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-09-20T20:25:27.084Z,1758399927.084 [DAT](INFO): direction in FSK: [0.976568,-0.156421,0.147809]
2025-09-20T20:25:27.084Z,1758399927.084 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:27.092Z,1758399927.092 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.538513
2025-09-20T20:25:27.312Z,1758399927.312 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.758793
2025-09-20T20:25:27.360Z,1758399927.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.900000 m,
deltaT: 0.505474 s,
deltaX: -0.500000 m,
approachRate: -0.989171 m/s,
rangeRepo size: 4
2025-09-20T20:25:27.362Z,1758399927.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.817661 m,
bearing: 96.990949 deg,
lat: 36.779302 deg,
lon: -121.859541 deg,
deltaT: 0.505474 s,
deltaX: -0.497831 m,
approachRate: -0.984880 m/s,
posRepo size: 4
2025-09-20T20:25:27.367Z,1758399927.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.82 m.
2025-09-20T20:25:27.370Z,1758399927.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.817661 m,
nav range: 18.561092 m,
bearing: 96.641119 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 102.944823 deg,
new cmd heading: 102.870252 deg.
2025-09-20T20:25:27.371Z,1758399927.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.795425 target range: 18.817661 and range: 18.90 m.
2025-09-20T20:25:27.570Z,1758399927.570 [DAT](INFO): DAT read: Rx Time:20:25:29.9650
2025-09-20T20:25:27.572Z,1758399927.572 [DAT](INFO): Rx dataTimestamp_ set to:1758399927.571486
2025-09-20T20:25:27.573Z,1758399927.573 [DAT](INFO): DAT read: Bearing 275.8, -9.6 (Local)
2025-09-20T20:25:27.573Z,1758399927.573 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -9.6 (Local)
2025-09-20T20:25:27.576Z,1758399927.576 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4
2025-09-20T20:25:27.581Z,1758399927.581 [DAT](INFO): DAT read: 20:25:29.9650 LVL= 20208, 24625, 17138, 28147, AGC= 57, IDX= 510, 0.46, 0.906,-0.637, 1.399, 0.842, PHS= 0.166,-1.434, 0.513, RAW= 159.6, 8.4, CAL= 159.3, 8.8, ROT= 350.7, -8.8
2025-09-20T20:25:27.582Z,1758399927.582 [DAT](INFO): got valid direction response:
20:25:29.9650 LVL= 20208, 24625, 17138, 28147, AGC= 57, IDX= 510, 0.46, 0.906,-0.637, 1.399, 0.842, PHS= 0.166,-1.434, 0.513, RAW= 159.6, 8.4, CAL= 159.3, 8.8, ROT= 350.7, -8.8
2025-09-20T20:25:27.583Z,1758399927.583 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-09-20T20:25:27.585Z,1758399927.585 [DAT](INFO): direction in FSK: [0.975239,-0.159701,0.152986]
2025-09-20T20:25:27.585Z,1758399927.585 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:27.617Z,1758399927.617 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.064022
2025-09-20T20:25:27.776Z,1758399927.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.799999 m,
deltaT: 0.509092 s,
deltaX: -0.100000 m,
approachRate: -0.196429 m/s,
rangeRepo size: 4
2025-09-20T20:25:27.784Z,1758399927.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.718096 m,
bearing: 96.799806 deg,
lat: 36.779302 deg,
lon: -121.859540 deg,
deltaT: 0.509092 s,
deltaX: -0.099566 m,
approachRate: -0.195575 m/s,
posRepo size: 4
2025-09-20T20:25:27.785Z,1758399927.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.72 m.
2025-09-20T20:25:27.793Z,1758399927.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.718096 m,
nav range: 18.360979 m,
bearing: 96.655482 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 102.870251 deg,
new cmd heading: 102.791641 deg.
2025-09-20T20:25:27.793Z,1758399927.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.794053 target range: 18.718096 and range: 18.80 m.
2025-09-20T20:25:27.816Z,1758399927.816 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.262932
2025-09-20T20:25:28.069Z,1758399928.069 [DAT](INFO): DAT read: Rx Time:20:25:30.4648
2025-09-20T20:25:28.069Z,1758399928.069 [DAT](INFO): Rx dataTimestamp_ set to:1758399928.069096
2025-09-20T20:25:28.071Z,1758399928.071 [DAT](INFO): DAT read: Bearing 276.2, -9.8 (Local)
2025-09-20T20:25:28.071Z,1758399928.071 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.2, -9.8 (Local)
2025-09-20T20:25:28.073Z,1758399928.073 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.7
2025-09-20T20:25:28.078Z,1758399928.078 [DAT](INFO): DAT read: 20:25:30.4648 LVL= 20080, 24385, 17730, 29827, AGC= 56, IDX= 508,-0.22,-1.744, 3.023,-1.249,-1.792, PHS= 0.150,-1.424, 0.499, RAW= 159.8, 8.8, CAL= 159.6, 9.2, ROT= 350.4, -9.2
2025-09-20T20:25:28.079Z,1758399928.079 [DAT](INFO): got valid direction response:
20:25:30.4648 LVL= 20080, 24385, 17730, 29827, AGC= 56, IDX= 508,-0.22,-1.744, 3.023,-1.249,-1.792, PHS= 0.150,-1.424, 0.499, RAW= 159.8, 8.8, CAL= 159.6, 9.2, ROT= 350.4, -9.2
2025-09-20T20:25:28.079Z,1758399928.079 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-09-20T20:25:28.080Z,1758399928.080 [DAT](INFO): direction in FSK: [0.973312,-0.164624,0.159881]
2025-09-20T20:25:28.081Z,1758399928.081 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:28.089Z,1758399928.089 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.536324
2025-09-20T20:25:28.301Z,1758399928.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.600000 m,
deltaT: 0.497610 s,
deltaX: -0.199999 m,
approachRate: -0.401919 m/s,
rangeRepo size: 4
2025-09-20T20:25:28.307Z,1758399928.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.518728 m,
bearing: 96.504696 deg,
lat: 36.779302 deg,
lon: -121.859540 deg,
deltaT: 0.497610 s,
deltaX: -0.199368 m,
approachRate: -0.400650 m/s,
posRepo size: 4
2025-09-20T20:25:28.308Z,1758399928.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.52 m.
2025-09-20T20:25:28.311Z,1758399928.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.518728 m,
nav range: 18.098442 m,
bearing: 96.606565 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 102.791642 deg,
new cmd heading: 102.690239 deg.
2025-09-20T20:25:28.316Z,1758399928.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.792283 target range: 18.518728 and range: 18.60 m.
2025-09-20T20:25:28.320Z,1758399928.320 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.767101
2025-09-20T20:25:28.574Z,1758399928.574 [DAT](INFO): DAT read: Rx Time:20:25:30.9646
2025-09-20T20:25:28.574Z,1758399928.574 [DAT](INFO): Rx dataTimestamp_ set to:1758399928.574094
2025-09-20T20:25:28.576Z,1758399928.576 [DAT](INFO): DAT read: Bearing 275.8, -9.5 (Local)
2025-09-20T20:25:28.577Z,1758399928.577 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -9.5 (Local)
2025-09-20T20:25:28.581Z,1758399928.581 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4
2025-09-20T20:25:28.586Z,1758399928.586 [DAT](INFO): DAT read: 20:25:30.9646 LVL= 18016, 25185, 16114, 26979, AGC= 55, IDX= 506, 0.01,-0.976,-2.504,-0.485,-1.037, PHS= 0.163,-1.422, 0.508, RAW= 159.6, 8.5, CAL= 159.3, 8.8, ROT= 350.7, -8.8
2025-09-20T20:25:28.588Z,1758399928.588 [DAT](INFO): got valid direction response:
20:25:30.9646 LVL= 18016, 25185, 16114, 26979, AGC= 55, IDX= 506, 0.01,-0.976,-2.504,-0.485,-1.037, PHS= 0.163,-1.422, 0.508, RAW= 159.6, 8.5, CAL= 159.3, 8.8, ROT= 350.7, -8.8
2025-09-20T20:25:28.588Z,1758399928.588 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-09-20T20:25:28.589Z,1758399928.589 [DAT](INFO): direction in FSK: [0.975239,-0.159701,0.152986]
2025-09-20T20:25:28.589Z,1758399928.589 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:28.629Z,1758399928.629 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.075802
2025-09-20T20:25:28.714Z,1758399928.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 18.299999 m,
deltaT: 0.504998 s,
deltaX: -0.300001 m,
approachRate: -0.594064 m/s,
rangeRepo size: 4
2025-09-20T20:25:28.720Z,1758399928.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 18.220037 m,
bearing: 96.773531 deg,
lat: 36.779301 deg,
lon: -121.859539 deg,
deltaT: 0.504998 s,
deltaX: -0.298691 m,
approachRate: -0.591469 m/s,
posRepo size: 4
2025-09-20T20:25:28.721Z,1758399928.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.22 m.
2025-09-20T20:25:28.728Z,1758399928.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 18.220037 m,
nav range: 17.962669 m,
bearing: 96.734937 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 102.690241 deg,
new cmd heading: 102.611231 deg.
2025-09-20T20:25:28.729Z,1758399928.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.790904 target range: 18.220037 and range: 18.30 m.
2025-09-20T20:25:28.825Z,1758399928.825 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.271481
2025-09-20T20:25:29.077Z,1758399929.077 [DAT](INFO): DAT read: Rx Time:20:25:31.4643
2025-09-20T20:25:29.077Z,1758399929.077 [DAT](INFO): Rx dataTimestamp_ set to:1758399929.076809
2025-09-20T20:25:29.078Z,1758399929.078 [DAT](INFO): DAT read: Bearing 275.7, -9.2 (Local)
2025-09-20T20:25:29.079Z,1758399929.079 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -9.2 (Local)
2025-09-20T20:25:29.081Z,1758399929.081 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.5
2025-09-20T20:25:29.085Z,1758399929.085 [DAT](INFO): DAT read: 20:25:31.4643 LVL= 18144, 26321, 17906, 28323, AGC= 55, IDX= 503, 0.23,-1.248,-2.793,-0.764,-1.320, PHS= 0.174,-1.428, 0.512, RAW= 159.4, 8.3, CAL= 159.0, 8.6, ROT= 351.0, -8.6
2025-09-20T20:25:29.086Z,1758399929.086 [DAT](INFO): got valid direction response:
20:25:31.4643 LVL= 18144, 26321, 17906, 28323, AGC= 55, IDX= 503, 0.23,-1.248,-2.793,-0.764,-1.320, PHS= 0.174,-1.428, 0.512, RAW= 159.4, 8.3, CAL= 159.0, 8.6, ROT= 351.0, -8.6
2025-09-20T20:25:29.087Z,1758399929.087 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-09-20T20:25:29.088Z,1758399929.088 [DAT](INFO): direction in FSK: [0.976583,-0.154675,0.149535]
2025-09-20T20:25:29.088Z,1758399929.088 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:29.097Z,1758399929.097 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.544174
2025-09-20T20:25:29.228Z,1758399929.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.502715 s,
deltaX: -0.400000 m,
approachRate: -0.795679 m/s,
rangeRepo size: 4
2025-09-20T20:25:29.230Z,1758399929.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.821741 m,
bearing: 97.062801 deg,
lat: 36.779301 deg,
lon: -121.859539 deg,
deltaT: 0.502715 s,
deltaX: -0.398296 m,
approachRate: -0.792291 m/s,
posRepo size: 4
2025-09-20T20:25:29.231Z,1758399929.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m.
2025-09-20T20:25:29.237Z,1758399929.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.821741 m,
nav range: 17.686911 m,
bearing: 96.745440 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 102.611230 deg,
new cmd heading: 102.513861 deg.
2025-09-20T20:25:29.238Z,1758399929.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.789204 target range: 17.821741 and range: 17.90 m.
2025-09-20T20:25:29.328Z,1758399929.328 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.775318
2025-09-20T20:25:29.581Z,1758399929.581 [DAT](INFO): DAT read: Rx Time:20:25:31.9643
2025-09-20T20:25:29.581Z,1758399929.581 [DAT](INFO): Rx dataTimestamp_ set to:1758399929.580912
2025-09-20T20:25:29.582Z,1758399929.582 [DAT](INFO): DAT read: Bearing 276.2, -9.4 (Local)
2025-09-20T20:25:29.583Z,1758399929.583 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.2, -9.4 (Local)
2025-09-20T20:25:29.585Z,1758399929.585 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.4
2025-09-20T20:25:29.590Z,1758399929.590 [DAT](INFO): DAT read: 20:25:31.9643 LVL= 18704, 26081, 17586, 29171, AGC= 55, IDX= 503,-0.35,-2.421, 2.346,-1.934,-2.473, PHS= 0.154,-1.419, 0.495, RAW= 159.6, 8.8, CAL= 159.4, 9.2, ROT= 350.6, -9.2
2025-09-20T20:25:29.591Z,1758399929.591 [DAT](INFO): got valid direction response:
20:25:31.9643 LVL= 18704, 26081, 17586, 29171, AGC= 55, IDX= 503,-0.35,-2.421, 2.346,-1.934,-2.473, PHS= 0.154,-1.419, 0.495, RAW= 159.6, 8.8, CAL= 159.4, 9.2, ROT= 350.6, -9.2
2025-09-20T20:25:29.591Z,1758399929.591 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-09-20T20:25:29.592Z,1758399929.592 [DAT](INFO): direction in FSK: [0.973881,-0.161225,0.159881]
2025-09-20T20:25:29.592Z,1758399929.592 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:29.596Z,1758399929.596 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.043056
2025-09-20T20:25:29.636Z,1758399929.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.900000 m,
deltaT: 0.504103 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:29.638Z,1758399929.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.821741 m,
bearing: 96.598963 deg,
lat: 36.779301 deg,
lon: -121.859539 deg,
deltaT: 0.504103 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:29.644Z,1758399929.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m.
2025-09-20T20:25:29.646Z,1758399929.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.821741 m,
nav range: 17.491600 m,
bearing: 96.656789 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.095659 deg/s,
cmd heading: 102.513858 deg,
new cmd heading: 102.435639 deg.
2025-09-20T20:25:29.652Z,1758399929.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.787839 target range: 17.821741 and range: 17.90 m.
2025-09-20T20:25:29.832Z,1758399929.832 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.279022
2025-09-20T20:25:30.064Z,1758399930.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:30.066Z,1758399930.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.82 m.
2025-09-20T20:25:30.069Z,1758399930.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.821741 m,
nav range: 17.244043 m,
bearing: 96.627323 deg,
approach rate: -0.568965 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.435639 deg,
new cmd heading: 102.375860 deg.
2025-09-20T20:25:30.070Z,1758399930.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.786796 target range: 17.821741 and range: 17.90 m.
2025-09-20T20:25:30.085Z,1758399930.085 [DAT](INFO): DAT read: Rx Time:20:25:32.4640
2025-09-20T20:25:30.085Z,1758399930.085 [DAT](INFO): Rx dataTimestamp_ set to:1758399930.084812
2025-09-20T20:25:30.086Z,1758399930.086 [DAT](INFO): DAT read: Bearing 275.9, -9.4 (Local)
2025-09-20T20:25:30.087Z,1758399930.087 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.9, -9.4 (Local)
2025-09-20T20:25:30.089Z,1758399930.089 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.5
2025-09-20T20:25:30.093Z,1758399930.093 [DAT](INFO): DAT read: 20:25:32.4640 LVL= 18448, 25393, 17186, 28451, AGC= 55, IDX= 500,-0.04, 2.700, 1.177,-3.092, 2.642, PHS= 0.160,-1.420, 0.505, RAW= 159.7, 8.5, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:30.095Z,1758399930.095 [DAT](INFO): got valid direction response:
20:25:32.4640 LVL= 18448, 25393, 17186, 28451, AGC= 55, IDX= 500,-0.04, 2.700, 1.177,-3.092, 2.642, PHS= 0.160,-1.420, 0.505, RAW= 159.7, 8.5, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:30.111Z,1758399930.111 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-09-20T20:25:30.112Z,1758399930.112 [DAT](INFO): direction in FSK: [0.974694,-0.161359,0.154710]
2025-09-20T20:25:30.112Z,1758399930.112 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:30.120Z,1758399930.120 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.566811
2025-09-20T20:25:30.338Z,1758399930.338 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.783791
2025-09-20T20:25:30.456Z,1758399930.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.400000 m,
deltaT: 0.503900 s,
deltaX: -0.500000 m,
approachRate: -0.992260 m/s,
rangeRepo size: 4
2025-09-20T20:25:30.458Z,1758399930.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.323893 m,
bearing: 96.463955 deg,
lat: 36.779301 deg,
lon: -121.859538 deg,
deltaT: 0.503900 s,
deltaX: -0.497849 m,
approachRate: -0.987991 m/s,
posRepo size: 4
2025-09-20T20:25:30.458Z,1758399930.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.32 m.
2025-09-20T20:25:30.465Z,1758399930.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.323893 m,
nav range: 17.097492 m,
bearing: 96.559123 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.375861 deg,
new cmd heading: 102.326882 deg.
2025-09-20T20:25:30.466Z,1758399930.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785941 target range: 17.323893 and range: 17.40 m.
2025-09-20T20:25:30.590Z,1758399930.590 [DAT](INFO): DAT read: Rx Time:20:25:32.9639
2025-09-20T20:25:30.590Z,1758399930.590 [DAT](INFO): Rx dataTimestamp_ set to:1758399930.590033
2025-09-20T20:25:30.592Z,1758399930.592 [DAT](INFO): DAT read: Bearing 275.5, -9.2 (Local)
2025-09-20T20:25:30.593Z,1758399930.593 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -9.2 (Local)
2025-09-20T20:25:30.596Z,1758399930.596 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.4
2025-09-20T20:25:30.601Z,1758399930.601 [DAT](INFO): DAT read: 20:25:32.9639 LVL= 20336, 24705, 18898, 32723, AGC= 56, IDX= 499, 0.23,-0.672,-2.216,-0.182,-0.741, PHS= 0.171,-1.430, 0.515, RAW= 159.5, 8.3, CAL= 159.2, 8.6, ROT= 350.8, -8.6
2025-09-20T20:25:30.602Z,1758399930.602 [DAT](INFO): got valid direction response:
20:25:32.9639 LVL= 20336, 24705, 18898, 32723, AGC= 56, IDX= 499, 0.23,-0.672,-2.216,-0.182,-0.741, PHS= 0.171,-1.430, 0.515, RAW= 159.5, 8.3, CAL= 159.2, 8.6, ROT= 350.8, -8.6
2025-09-20T20:25:30.602Z,1758399930.602 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-09-20T20:25:30.616Z,1758399930.616 [DAT](INFO): direction in FSK: [0.976037,-0.158084,0.149535]
2025-09-20T20:25:30.616Z,1758399930.616 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:30.644Z,1758399930.644 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.091328
2025-09-20T20:25:30.840Z,1758399930.840 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.287170
2025-09-20T20:25:30.889Z,1758399930.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:25:30.957Z,1758399930.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.299999 m,
deltaT: 0.505221 s,
deltaX: -0.100000 m,
approachRate: -0.197934 m/s,
rangeRepo size: 4
2025-09-20T20:25:30.963Z,1758399930.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 17.224331 m,
bearing: 96.610180 deg,
lat: 36.779301 deg,
lon: -121.859538 deg,
deltaT: 0.505221 s,
deltaX: -0.099562 m,
approachRate: -0.197066 m/s,
posRepo size: 4
2025-09-20T20:25:30.964Z,1758399930.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.22 m.
2025-09-20T20:25:30.967Z,1758399930.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 17.224331 m,
nav range: 16.847494 m,
bearing: 96.607693 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.326882 deg,
new cmd heading: 102.253562 deg.
2025-09-20T20:25:30.972Z,1758399930.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784661 target range: 17.224331 and range: 17.30 m.
2025-09-20T20:25:31.093Z,1758399931.093 [DAT](INFO): DAT read: Rx Time:20:25:33.4637
2025-09-20T20:25:31.094Z,1758399931.094 [DAT](INFO): Rx dataTimestamp_ set to:1758399931.093299
2025-09-20T20:25:31.095Z,1758399931.095 [DAT](INFO): DAT read: Bearing 276.2, -9.5 (Local)
2025-09-20T20:25:31.095Z,1758399931.095 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.2, -9.5 (Local)
2025-09-20T20:25:31.097Z,1758399931.097 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4
2025-09-20T20:25:31.108Z,1758399931.108 [DAT](INFO): DAT read: 20:25:33.4637 LVL= 20256, 23505, 19938, 32499, AGC= 56, IDX= 497,-0.28, 2.270, 0.745, 2.765, 2.223, PHS= 0.149,-1.433, 0.498, RAW= 159.8, 8.9, CAL= 159.5, 9.3, ROT= 350.5, -9.3
2025-09-20T20:25:31.109Z,1758399931.109 [DAT](INFO): got valid direction response:
20:25:33.4637 LVL= 20256, 23505, 19938, 32499, AGC= 56, IDX= 497,-0.28, 2.270, 0.745, 2.765, 2.223, PHS= 0.149,-1.433, 0.498, RAW= 159.8, 8.9, CAL= 159.5, 9.3, ROT= 350.5, -9.3
2025-09-20T20:25:31.109Z,1758399931.109 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-09-20T20:25:31.110Z,1758399931.110 [DAT](INFO): direction in FSK: [0.973322,-0.162878,0.161604]
2025-09-20T20:25:31.110Z,1758399931.110 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:31.130Z,1758399931.130 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.576633
2025-09-20T20:25:31.344Z,1758399931.344 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.790989
2025-09-20T20:25:31.408Z,1758399931.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 17.000000 m,
deltaT: 0.503266 s,
deltaX: -0.299999 m,
approachRate: -0.596105 m/s,
rangeRepo size: 4
2025-09-20T20:25:31.410Z,1758399931.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.925724 m,
bearing: 96.308093 deg,
lat: 36.779301 deg,
lon: -121.859538 deg,
deltaT: 0.503266 s,
deltaX: -0.298607 m,
approachRate: -0.593338 m/s,
posRepo size: 4
2025-09-20T20:25:31.410Z,1758399931.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.93 m.
2025-09-20T20:25:31.418Z,1758399931.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.925724 m,
nav range: 16.621492 m,
bearing: 96.471247 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.253560 deg,
new cmd heading: 102.192217 deg.
2025-09-20T20:25:31.423Z,1758399931.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.783591 target range: 16.925724 and range: 17.00 m.
2025-09-20T20:25:31.597Z,1758399931.597 [DAT](INFO): DAT read: Rx Time:20:25:33.9636
2025-09-20T20:25:31.597Z,1758399931.597 [DAT](INFO): Rx dataTimestamp_ set to:1758399931.596869
2025-09-20T20:25:31.598Z,1758399931.598 [DAT](INFO): DAT read: Bearing 306.5, -15.7 (Local)
2025-09-20T20:25:31.599Z,1758399931.599 [DAT](INFO): Local bearing/azimuth received:
Bearing 306.5, -15.7 (Local)
2025-09-20T20:25:31.601Z,1758399931.601 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.4
2025-09-20T20:25:31.610Z,1758399931.610 [DAT](INFO): DAT read: 20:25:33.9636 LVL= 20448, 24801, 18930, 32755, AGC= 55, IDX= 512, 0.07,-1.727,-3.078,-0.972,-1.087, PHS=-0.538,-1.947, 0.071, RAW= 167.1, 25.5, CAL= 168.8, 38.5, ROT= 341.2, -38.5
2025-09-20T20:25:31.612Z,1758399931.612 [DAT](INFO): got valid direction response:
20:25:33.9636 LVL= 20448, 24801, 18930, 32755, AGC= 55, IDX= 512, 0.07,-1.727,-3.078,-0.972,-1.087, PHS=-0.538,-1.947, 0.071, RAW= 167.1, 25.5, CAL= 168.8, 38.5, ROT= 341.2, -38.5
2025-09-20T20:25:31.612Z,1758399931.612 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-09-20T20:25:31.613Z,1758399931.613 [DAT](INFO): direction in FSK: [0.740856,-0.252207,0.622515]
2025-09-20T20:25:31.613Z,1758399931.613 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:31.617Z,1758399931.617 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.063850
2025-09-20T20:25:31.770Z,1758399931.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.799999 m,
deltaT: 0.503570 s,
deltaX: -0.200001 m,
approachRate: -0.397166 m/s,
rangeRepo size: 4
2025-09-20T20:25:31.778Z,1758399931.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.726597 m,
bearing: 88.171442 deg,
lat: 36.779302 deg,
lon: -121.859538 deg,
deltaT: 0.503570 s,
deltaX: -0.199127 m,
approachRate: -0.395431 m/s,
posRepo size: 4
2025-09-20T20:25:31.783Z,1758399931.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.73 m.
2025-09-20T20:25:31.791Z,1758399931.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.726597 m,
nav range: 16.438023 m,
bearing: 96.341910 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.192218 deg,
new cmd heading: 102.142018 deg.
2025-09-20T20:25:31.792Z,1758399931.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.782714 target range: 16.726597 and range: 16.80 m.
2025-09-20T20:25:31.849Z,1758399931.849 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.295902
2025-09-20T20:25:31.894Z,1758399931.894 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:25:32.100Z,1758399932.100 [DAT](INFO): DAT read: Rx Time:20:25:34.4633
2025-09-20T20:25:32.101Z,1758399932.101 [DAT](INFO): Rx dataTimestamp_ set to:1758399932.100678
2025-09-20T20:25:32.102Z,1758399932.102 [DAT](INFO): DAT read: Bearing 275.8, -9.3 (Local)
2025-09-20T20:25:32.103Z,1758399932.103 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -9.3 (Local)
2025-09-20T20:25:32.105Z,1758399932.105 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4
2025-09-20T20:25:32.109Z,1758399932.109 [DAT](INFO): DAT read: 20:25:34.4633 LVL= 22000, 25137, 19698, 32755, AGC= 56, IDX= 510,-0.50, 2.333, 0.804, 2.828, 2.281, PHS= 0.153,-1.432, 0.503, RAW= 159.8, 8.7, CAL= 159.5, 9.1, ROT= 350.5, -9.1
2025-09-20T20:25:32.110Z,1758399932.110 [DAT](INFO): got valid direction response:
20:25:34.4633 LVL= 22000, 25137, 19698, 32755, AGC= 56, IDX= 510,-0.50, 2.333, 0.804, 2.828, 2.281, PHS= 0.153,-1.432, 0.503, RAW= 159.8, 8.7, CAL= 159.5, 9.1, ROT= 350.5, -9.1
2025-09-20T20:25:32.111Z,1758399932.111 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-09-20T20:25:32.112Z,1758399932.112 [DAT](INFO): direction in FSK: [0.973872,-0.162970,0.158158]
2025-09-20T20:25:32.112Z,1758399932.112 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:32.115Z,1758399932.115 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.562283
2025-09-20T20:25:32.272Z,1758399932.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.400000 m,
deltaT: 0.503809 s,
deltaX: -0.400000 m,
approachRate: -0.793951 m/s,
rangeRepo size: 4
2025-09-20T20:25:32.274Z,1758399932.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.328087 m,
bearing: 96.248962 deg,
lat: 36.779302 deg,
lon: -121.859538 deg,
deltaT: 0.503809 s,
deltaX: -0.398510 m,
approachRate: -0.790994 m/s,
posRepo size: 4
2025-09-20T20:25:32.275Z,1758399932.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.33 m.
2025-09-20T20:25:32.282Z,1758399932.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.328087 m,
nav range: 16.135857 m,
bearing: 96.269940 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.142016 deg,
new cmd heading: 102.073517 deg.
2025-09-20T20:25:32.282Z,1758399932.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.781519 target range: 16.328087 and range: 16.40 m.
2025-09-20T20:25:32.353Z,1758399932.353 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.800251
2025-09-20T20:25:32.605Z,1758399932.605 [DAT](INFO): DAT read: Rx Time:20:25:34.9632
2025-09-20T20:25:32.605Z,1758399932.605 [DAT](INFO): Rx dataTimestamp_ set to:1758399932.604911
2025-09-20T20:25:32.606Z,1758399932.606 [DAT](INFO): DAT read: Bearing 275.8, -9.3 (Local)
2025-09-20T20:25:32.607Z,1758399932.607 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -9.3 (Local)
2025-09-20T20:25:32.609Z,1758399932.609 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.4
2025-09-20T20:25:32.614Z,1758399932.614 [DAT](INFO): DAT read: 20:25:34.9632 LVL= 21488, 25249, 19954, 32755, AGC= 56, IDX= 508,-0.04, 2.399, 0.875, 2.896, 2.350, PHS= 0.151,-1.430, 0.501, RAW= 159.8, 8.8, CAL= 159.5, 9.2, ROT= 350.5, -9.2
2025-09-20T20:25:32.615Z,1758399932.615 [DAT](INFO): got valid direction response:
20:25:34.9632 LVL= 21488, 25249, 19954, 32755, AGC= 56, IDX= 508,-0.04, 2.399, 0.875, 2.896, 2.350, PHS= 0.151,-1.430, 0.501, RAW= 159.8, 8.8, CAL= 159.5, 9.2, ROT= 350.5, -9.2
2025-09-20T20:25:32.615Z,1758399932.615 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-09-20T20:25:32.616Z,1758399932.616 [DAT](INFO): direction in FSK: [0.973598,-0.162924,0.159881]
2025-09-20T20:25:32.616Z,1758399932.616 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:32.622Z,1758399932.622 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.068737
2025-09-20T20:25:32.633Z,1758399932.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 16.200001 m,
deltaT: 0.504233 s,
deltaX: -0.199999 m,
approachRate: -0.396640 m/s,
rangeRepo size: 4
2025-09-20T20:25:32.640Z,1758399932.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 16.128965 m,
bearing: 96.175371 deg,
lat: 36.779302 deg,
lon: -121.859539 deg,
deltaT: 0.504233 s,
deltaX: -0.199121 m,
approachRate: -0.394900 m/s,
posRepo size: 4
2025-09-20T20:25:32.640Z,1758399932.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.13 m.
2025-09-20T20:25:32.647Z,1758399932.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.128965 m,
nav range: 15.904858 m,
bearing: 96.217278 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.068696 deg/s,
cmd heading: 102.073516 deg,
new cmd heading: 102.023260 deg.
2025-09-20T20:25:32.648Z,1758399932.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.780642 target range: 16.128965 and range: 16.20 m.
2025-09-20T20:25:32.856Z,1758399932.856 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.303089
2025-09-20T20:25:33.081Z,1758399933.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:33.084Z,1758399933.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.13 m.
2025-09-20T20:25:33.086Z,1758399933.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 16.128965 m,
nav range: 15.646085 m,
bearing: 96.173625 deg,
approach rate: -0.574984 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 102.023260 deg,
new cmd heading: 101.934508 deg.
2025-09-20T20:25:33.087Z,1758399933.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.779093 target range: 16.128965 and range: 16.20 m.
2025-09-20T20:25:33.109Z,1758399933.109 [DAT](INFO): DAT read: Rx Time:20:25:35.4629
2025-09-20T20:25:33.109Z,1758399933.109 [DAT](INFO): Rx dataTimestamp_ set to:1758399933.108872
2025-09-20T20:25:33.110Z,1758399933.110 [DAT](INFO): DAT read: Bearing 275.1, -9.1 (Local)
2025-09-20T20:25:33.111Z,1758399933.111 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.1, -9.1 (Local)
2025-09-20T20:25:33.113Z,1758399933.113 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4
2025-09-20T20:25:33.117Z,1758399933.117 [DAT](INFO): DAT read: 20:25:35.4629 LVL= 19248, 24673, 18210, 29603, AGC= 54, IDX= 505, 0.34, 2.735, 1.193,-3.053, 2.668, PHS= 0.168,-1.430, 0.518, RAW= 159.7, 8.3, CAL= 159.3, 8.6, ROT= 350.7, -8.6
2025-09-20T20:25:33.118Z,1758399933.118 [DAT](INFO): got valid direction response:
20:25:35.4629 LVL= 19248, 24673, 18210, 29603, AGC= 54, IDX= 505, 0.34, 2.735, 1.193,-3.053, 2.668, PHS= 0.168,-1.430, 0.518, RAW= 159.7, 8.3, CAL= 159.3, 8.6, ROT= 350.7, -8.6
2025-09-20T20:25:33.119Z,1758399933.119 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-09-20T20:25:33.120Z,1758399933.120 [DAT](INFO): direction in FSK: [0.975760,-0.159786,0.149535]
2025-09-20T20:25:33.120Z,1758399933.120 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:33.124Z,1758399933.124 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.570568
2025-09-20T20:25:33.360Z,1758399933.360 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.806984
2025-09-20T20:25:33.456Z,1758399933.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.503961 s,
deltaX: -0.400001 m,
approachRate: -0.793713 m/s,
rangeRepo size: 4
2025-09-20T20:25:33.458Z,1758399933.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.730649 m,
bearing: 96.270985 deg,
lat: 36.779302 deg,
lon: -121.859539 deg,
deltaT: 0.503961 s,
deltaX: -0.398316 m,
approachRate: -0.790371 m/s,
posRepo size: 4
2025-09-20T20:25:33.459Z,1758399933.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m.
2025-09-20T20:25:33.462Z,1758399933.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.730649 m,
nav range: 15.448381 m,
bearing: 96.139843 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 101.934508 deg,
new cmd heading: 101.860957 deg.
2025-09-20T20:25:33.463Z,1758399933.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.777809 target range: 15.730649 and range: 15.80 m.
2025-09-20T20:25:33.613Z,1758399933.613 [DAT](INFO): DAT read: Rx Time:20:25:35.9629
2025-09-20T20:25:33.613Z,1758399933.613 [DAT](INFO): Rx dataTimestamp_ set to:1758399933.613029
2025-09-20T20:25:33.615Z,1758399933.615 [DAT](INFO): DAT read: Bearing 275.6, -9.3 (Local)
2025-09-20T20:25:33.616Z,1758399933.616 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -9.3 (Local)
2025-09-20T20:25:33.618Z,1758399933.618 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed 0.4
2025-09-20T20:25:33.622Z,1758399933.622 [DAT](INFO): DAT read: 20:25:35.9629 LVL= 18672, 25697, 17538, 29123, AGC= 54, IDX= 505,-0.14, 2.710, 1.189,-3.072, 2.660, PHS= 0.152,-1.426, 0.507, RAW= 159.9, 8.6, CAL= 159.6, 9.0, ROT= 350.4, -9.0
2025-09-20T20:25:33.624Z,1758399933.624 [DAT](INFO): got valid direction response:
20:25:35.9629 LVL= 18672, 25697, 17538, 29123, AGC= 54, IDX= 505,-0.14, 2.710, 1.189,-3.072, 2.660, PHS= 0.152,-1.426, 0.507, RAW= 159.9, 8.6, CAL= 159.6, 9.0, ROT= 350.4, -9.0
2025-09-20T20:25:33.624Z,1758399933.624 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-09-20T20:25:33.625Z,1758399933.625 [DAT](INFO): direction in FSK: [0.973857,-0.164716,0.156434]
2025-09-20T20:25:33.625Z,1758399933.625 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:33.629Z,1758399933.629 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.075981
2025-09-20T20:25:33.864Z,1758399933.864 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.310978
2025-09-20T20:25:33.901Z,1758399933.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.800000 m,
deltaT: 0.504157 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:33.908Z,1758399933.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.730649 m,
bearing: 95.986264 deg,
lat: 36.779302 deg,
lon: -121.859539 deg,
deltaT: 0.504157 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:33.908Z,1758399933.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.73 m.
2025-09-20T20:25:33.933Z,1758399933.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.730649 m,
nav range: 15.222601 m,
bearing: 96.098232 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 101.860954 deg,
new cmd heading: 101.773204 deg.
2025-09-20T20:25:33.947Z,1758399933.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.776278 target range: 15.730649 and range: 15.80 m.
2025-09-20T20:25:34.117Z,1758399934.117 [DAT](INFO): DAT read: Rx Time:20:25:36.4626
2025-09-20T20:25:34.117Z,1758399934.117 [DAT](INFO): Rx dataTimestamp_ set to:1758399934.116868
2025-09-20T20:25:34.118Z,1758399934.118 [DAT](INFO): DAT read: Bearing 275.1, -9.1 (Local)
2025-09-20T20:25:34.119Z,1758399934.119 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.1, -9.1 (Local)
2025-09-20T20:25:34.121Z,1758399934.121 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4
2025-09-20T20:25:34.126Z,1758399934.126 [DAT](INFO): DAT read: 20:25:36.4626 LVL= 19296, 24545, 15970, 26147, AGC= 55, IDX= 502, 0.17,-2.512, 2.230,-2.009,-2.577, PHS= 0.167,-1.431, 0.524, RAW= 159.9, 8.3, CAL= 159.5, 8.5, ROT= 350.5, -8.5
2025-09-20T20:25:34.127Z,1758399934.127 [DAT](INFO): got valid direction response:
20:25:36.4626 LVL= 19296, 24545, 15970, 26147, AGC= 55, IDX= 502, 0.17,-2.512, 2.230,-2.009,-2.577, PHS= 0.167,-1.431, 0.524, RAW= 159.9, 8.3, CAL= 159.5, 8.5, ROT= 350.5, -8.5
2025-09-20T20:25:34.128Z,1758399934.128 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-09-20T20:25:34.129Z,1758399934.129 [DAT](INFO): direction in FSK: [0.975452,-0.163235,0.147809]
2025-09-20T20:25:34.129Z,1758399934.129 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:34.137Z,1758399934.137 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.583511
2025-09-20T20:25:34.368Z,1758399934.368 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.815086
2025-09-20T20:25:34.432Z,1758399934.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.503839 s,
deltaX: -0.500000 m,
approachRate: -0.992380 m/s,
rangeRepo size: 4
2025-09-20T20:25:34.434Z,1758399934.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.232819 m,
bearing: 96.066836 deg,
lat: 36.779302 deg,
lon: -121.859538 deg,
deltaT: 0.503839 s,
deltaX: -0.497830 m,
approachRate: -0.988074 m/s,
posRepo size: 4
2025-09-20T20:25:34.435Z,1758399934.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.23 m.
2025-09-20T20:25:34.446Z,1758399934.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.232819 m,
nav range: 15.006098 m,
bearing: 96.025313 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 101.773206 deg,
new cmd heading: 101.669416 deg.
2025-09-20T20:25:34.446Z,1758399934.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.774466 target range: 15.232819 and range: 15.30 m.
2025-09-20T20:25:34.622Z,1758399934.622 [DAT](INFO): DAT read: Rx Time:20:25:36.9626
2025-09-20T20:25:34.622Z,1758399934.622 [DAT](INFO): Rx dataTimestamp_ set to:1758399934.621742
2025-09-20T20:25:34.624Z,1758399934.624 [DAT](INFO): DAT read: Bearing 275.4, -9.4 (Local)
2025-09-20T20:25:34.625Z,1758399934.625 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.4, -9.4 (Local)
2025-09-20T20:25:34.628Z,1758399934.628 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4
2025-09-20T20:25:34.634Z,1758399934.634 [DAT](INFO): DAT read: 20:25:36.9626 LVL= 17904, 25265, 14370, 26995, AGC= 54, IDX= 502,-0.35,-2.734, 2.039,-2.223,-2.780, PHS= 0.148,-1.420, 0.513, RAW= 160.2, 8.6, CAL= 159.9, 8.9, ROT= 350.1, -8.9
2025-09-20T20:25:34.636Z,1758399934.636 [DAT](INFO): got valid direction response:
20:25:36.9626 LVL= 17904, 25265, 14370, 26995, AGC= 54, IDX= 502,-0.35,-2.734, 2.039,-2.223,-2.780, PHS= 0.148,-1.420, 0.513, RAW= 160.2, 8.6, CAL= 159.9, 8.9, ROT= 350.1, -8.9
2025-09-20T20:25:34.637Z,1758399934.637 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-09-20T20:25:34.638Z,1758399934.638 [DAT](INFO): direction in FSK: [0.973248,-0.169859,0.154710]
2025-09-20T20:25:34.639Z,1758399934.639 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:34.646Z,1758399934.646 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.093189
2025-09-20T20:25:34.872Z,1758399934.872 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.318905
2025-09-20T20:25:34.929Z,1758399934.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 15.300000 m,
deltaT: 0.504874 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:34.948Z,1758399934.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 15.232819 m,
bearing: 95.526648 deg,
lat: 36.779302 deg,
lon: -121.859538 deg,
deltaT: 0.504874 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:34.950Z,1758399934.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.23 m.
2025-09-20T20:25:34.979Z,1758399934.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 15.232819 m,
nav range: 14.765699 m,
bearing: 95.968470 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 101.669415 deg,
new cmd heading: 101.571151 deg.
2025-09-20T20:25:34.988Z,1758399934.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.772751 target range: 15.232819 and range: 15.30 m.
2025-09-20T20:25:35.125Z,1758399935.125 [DAT](INFO): DAT read: Rx Time:20:25:37.4624
2025-09-20T20:25:35.125Z,1758399935.125 [DAT](INFO): Rx dataTimestamp_ set to:1758399935.124882
2025-09-20T20:25:35.126Z,1758399935.126 [DAT](INFO): DAT read: Bearing 275.5, -9.2 (Local)
2025-09-20T20:25:35.127Z,1758399935.127 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -9.2 (Local)
2025-09-20T20:25:35.129Z,1758399935.129 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.4
2025-09-20T20:25:35.134Z,1758399935.134 [DAT](INFO): DAT read: 20:25:37.4624 LVL= 18704, 24353, 15330, 27171, AGC= 54, IDX= 499,-0.02,-2.680, 2.081,-2.174,-2.727, PHS= 0.149,-1.430, 0.509, RAW= 160.0, 8.7, CAL= 159.8, 9.1, ROT= 350.2, -9.1
2025-09-20T20:25:35.135Z,1758399935.135 [DAT](INFO): got valid direction response:
20:25:37.4624 LVL= 18704, 24353, 15330, 27171, AGC= 54, IDX= 499,-0.02,-2.680, 2.081,-2.174,-2.727, PHS= 0.149,-1.430, 0.509, RAW= 160.0, 8.7, CAL= 159.8, 9.1, ROT= 350.2, -9.1
2025-09-20T20:25:35.139Z,1758399935.139 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-09-20T20:25:35.140Z,1758399935.140 [DAT](INFO): direction in FSK: [0.973005,-0.168067,0.158158]
2025-09-20T20:25:35.140Z,1758399935.140 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:35.172Z,1758399935.172 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.618423
2025-09-20T20:25:35.377Z,1758399935.377 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.823936
2025-09-20T20:25:35.565Z,1758399935.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.900000 m,
deltaT: 0.503140 s,
deltaX: -0.400001 m,
approachRate: -0.795008 m/s,
rangeRepo size: 4
2025-09-20T20:25:35.571Z,1758399935.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.834575 m,
bearing: 95.616388 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 0.503140 s,
deltaX: -0.398244 m,
approachRate: -0.791517 m/s,
posRepo size: 4
2025-09-20T20:25:35.572Z,1758399935.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.83 m.
2025-09-20T20:25:35.580Z,1758399935.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.834575 m,
nav range: 14.617899 m,
bearing: 95.835444 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 101.571149 deg,
new cmd heading: 101.445071 deg.
2025-09-20T20:25:35.581Z,1758399935.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.770550 target range: 14.834575 and range: 14.90 m.
2025-09-20T20:25:35.629Z,1758399935.629 [DAT](INFO): DAT read: Rx Time:20:25:37.9623
2025-09-20T20:25:35.629Z,1758399935.629 [DAT](INFO): Rx dataTimestamp_ set to:1758399935.629049
2025-09-20T20:25:35.631Z,1758399935.631 [DAT](INFO): DAT read: Bearing 274.9, -8.9 (Local)
2025-09-20T20:25:35.631Z,1758399935.631 [DAT](INFO): Local bearing/azimuth received:
Bearing 274.9, -8.9 (Local)
2025-09-20T20:25:35.633Z,1758399935.633 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4
2025-09-20T20:25:35.638Z,1758399935.638 [DAT](INFO): DAT read: 20:25:37.9623 LVL= 18496, 25825, 14802, 29539, AGC= 53, IDX= 498, 0.36,-0.482,-2.016, 0.017,-0.548, PHS= 0.168,-1.422, 0.522, RAW= 159.8, 8.2, CAL= 159.5, 8.5, ROT= 350.5, -8.5
2025-09-20T20:25:35.640Z,1758399935.640 [DAT](INFO): got valid direction response:
20:25:37.9623 LVL= 18496, 25825, 14802, 29539, AGC= 53, IDX= 498, 0.36,-0.482,-2.016, 0.017,-0.548, PHS= 0.168,-1.422, 0.522, RAW= 159.8, 8.2, CAL= 159.5, 8.5, ROT= 350.5, -8.5
2025-09-20T20:25:35.640Z,1758399935.640 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-09-20T20:25:35.641Z,1758399935.641 [DAT](INFO): direction in FSK: [0.975452,-0.163235,0.147809]
2025-09-20T20:25:35.641Z,1758399935.641 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:35.645Z,1758399935.645 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.091602
2025-09-20T20:25:35.880Z,1758399935.880 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.326805
2025-09-20T20:25:36.133Z,1758399936.133 [DAT](INFO): DAT read: Rx Time:20:25:38.4621
2025-09-20T20:25:36.133Z,1758399936.133 [DAT](INFO): Rx dataTimestamp_ set to:1758399936.132845
2025-09-20T20:25:36.134Z,1758399936.134 [DAT](INFO): DAT read: Bearing 275.5, -9.1 (Local)
2025-09-20T20:25:36.135Z,1758399936.135 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -9.1 (Local)
2025-09-20T20:25:36.137Z,1758399936.137 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.4
2025-09-20T20:25:36.145Z,1758399936.145 [DAT](INFO): DAT read: 20:25:38.4621 LVL= 19392, 24241, 16306, 28563, AGC= 53, IDX= 496,-0.11, 2.048, 0.539, 2.548, 2.003, PHS= 0.147,-1.419, 0.501, RAW= 160.0, 8.8, CAL= 159.7, 9.2, ROT= 350.3, -9.2
2025-09-20T20:25:36.146Z,1758399936.146 [DAT](INFO): got valid direction response:
20:25:38.4621 LVL= 19392, 24241, 16306, 28563, AGC= 53, IDX= 496,-0.11, 2.048, 0.539, 2.548, 2.003, PHS= 0.147,-1.419, 0.501, RAW= 160.0, 8.8, CAL= 159.7, 9.2, ROT= 350.3, -9.2
2025-09-20T20:25:36.147Z,1758399936.147 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-09-20T20:25:36.148Z,1758399936.148 [DAT](INFO): direction in FSK: [0.973024,-0.166322,0.159881]
2025-09-20T20:25:36.148Z,1758399936.148 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:36.153Z,1758399936.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.400000 m,
deltaT: 1.007963 s,
deltaX: -0.500000 m,
approachRate: -0.496050 m/s,
rangeRepo size: 4
2025-09-20T20:25:36.160Z,1758399936.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.635453 m,
bearing: 95.832569 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 0.504167 s,
deltaX: -0.199121 m,
approachRate: -0.394951 m/s,
posRepo size: 4
2025-09-20T20:25:36.161Z,1758399936.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-20T20:25:36.162Z,1758399936.162 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.608791
2025-09-20T20:25:36.169Z,1758399936.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.635453 m,
nav range: 14.321850 m,
bearing: 95.786549 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.098601 deg/s,
cmd heading: 101.445070 deg,
new cmd heading: 101.329145 deg.
2025-09-20T20:25:36.170Z,1758399936.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768527 target range: 14.635453 and range: 14.40 m.
2025-09-20T20:25:36.387Z,1758399936.387 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.833759
2025-09-20T20:25:36.558Z,1758399936.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.64 m.
2025-09-20T20:25:36.565Z,1758399936.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.635453 m,
nav range: 14.128006 m,
bearing: 95.757157 deg,
approach rate: -0.478040 m/s,
LOS rate: -0.073477 deg/s,
cmd heading: 101.329148 deg,
new cmd heading: 101.269559 deg.
2025-09-20T20:25:36.566Z,1758399936.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767487 target range: 14.635453 and range: 14.40 m.
2025-09-20T20:25:36.641Z,1758399936.641 [DAT](INFO): DAT read: Rx Time:20:25:38.9619
2025-09-20T20:25:36.641Z,1758399936.641 [DAT](INFO): Rx dataTimestamp_ set to:1758399936.640890
2025-09-20T20:25:36.642Z,1758399936.642 [DAT](INFO): DAT read: Bearing 275.1, -8.7 (Local)
2025-09-20T20:25:36.643Z,1758399936.643 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.1, -8.7 (Local)
2025-09-20T20:25:36.645Z,1758399936.645 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.4
2025-09-20T20:25:36.655Z,1758399936.655 [DAT](INFO): DAT read: 20:25:38.9619 LVL= 18608, 23105, 15570, 28707, AGC= 52, IDX= 510, 0.22,-2.986, 1.761,-2.492,-3.046, PHS= 0.161,-1.431, 0.510, RAW= 159.7, 8.5, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:36.668Z,1758399936.668 [DAT](INFO): got valid direction response:
20:25:38.9619 LVL= 18608, 23105, 15570, 28707, AGC= 52, IDX= 510, 0.22,-2.986, 1.761,-2.492,-3.046, PHS= 0.161,-1.431, 0.510, RAW= 159.7, 8.5, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:36.668Z,1758399936.668 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-09-20T20:25:36.670Z,1758399936.670 [DAT](INFO): direction in FSK: [0.974694,-0.161359,0.154710]
2025-09-20T20:25:36.670Z,1758399936.670 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:36.679Z,1758399936.679 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.125385
2025-09-20T20:25:36.892Z,1758399936.892 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.339214
2025-09-20T20:25:36.906Z,1758399936.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 14.100000 m,
deltaT: 0.508045 s,
deltaX: -0.299999 m,
approachRate: -0.590497 m/s,
rangeRepo size: 4
2025-09-20T20:25:36.939Z,1758399936.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 14.038031 m,
bearing: 95.836200 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 1.011841 s,
deltaX: -0.597423 m,
approachRate: -0.590431 m/s,
posRepo size: 4
2025-09-20T20:25:36.940Z,1758399936.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.04 m.
2025-09-20T20:25:36.943Z,1758399936.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 14.038031 m,
nav range: 13.904999 m,
bearing: 95.563238 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.073477 deg/s,
cmd heading: 101.269562 deg,
new cmd heading: 101.218493 deg.
2025-09-20T20:25:36.952Z,1758399936.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.766596 target range: 14.038031 and range: 14.10 m.
2025-09-20T20:25:37.149Z,1758399937.149 [DAT](INFO): DAT read: Rx Time:20:25:39.4617
2025-09-20T20:25:37.150Z,1758399937.150 [DAT](INFO): Rx dataTimestamp_ set to:1758399937.149305
2025-09-20T20:25:37.151Z,1758399937.151 [DAT](INFO): DAT read: Bearing 275.6, -9.1 (Local)
2025-09-20T20:25:37.151Z,1758399937.151 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -9.1 (Local)
2025-09-20T20:25:37.153Z,1758399937.153 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4
2025-09-20T20:25:37.158Z,1758399937.158 [DAT](INFO): DAT read: 20:25:39.4617 LVL= 19872, 24561, 18466, 31219, AGC= 52, IDX= 508,-0.32, 0.357,-1.174, 0.865, 0.316, PHS= 0.142,-1.446, 0.505, RAW= 160.1, 8.9, CAL= 159.8, 9.4, ROT= 350.2, -9.4
2025-09-20T20:25:37.159Z,1758399937.159 [DAT](INFO): got valid direction response:
20:25:39.4617 LVL= 19872, 24561, 18466, 31219, AGC= 52, IDX= 508,-0.32, 0.357,-1.174, 0.865, 0.316, PHS= 0.142,-1.446, 0.505, RAW= 160.1, 8.9, CAL= 159.8, 9.4, ROT= 350.2, -9.4
2025-09-20T20:25:37.159Z,1758399937.159 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-09-20T20:25:37.160Z,1758399937.160 [DAT](INFO): direction in FSK: [0.972176,-0.167924,0.163326]
2025-09-20T20:25:37.161Z,1758399937.161 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:37.165Z,1758399937.165 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.611694
2025-09-20T20:25:37.385Z,1758399937.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.800000 m,
deltaT: 0.508415 s,
deltaX: -0.300000 m,
approachRate: -0.590070 m/s,
rangeRepo size: 4
2025-09-20T20:25:37.387Z,1758399937.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.739322 m,
bearing: 95.391534 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 0.508415 s,
deltaX: -0.298709 m,
approachRate: -0.587530 m/s,
posRepo size: 4
2025-09-20T20:25:37.388Z,1758399937.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.74 m.
2025-09-20T20:25:37.390Z,1758399937.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.739322 m,
nav range: 13.655522 m,
bearing: 95.543960 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.073477 deg/s,
cmd heading: 101.218493 deg,
new cmd heading: 101.148129 deg.
2025-09-20T20:25:37.392Z,1758399937.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.765368 target range: 13.739322 and range: 13.80 m.
2025-09-20T20:25:37.396Z,1758399937.396 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.842937
2025-09-20T20:25:37.649Z,1758399937.649 [DAT](INFO): DAT read: Rx Time:20:25:39.9616
2025-09-20T20:25:37.649Z,1758399937.649 [DAT](INFO): Rx dataTimestamp_ set to:1758399937.648806
2025-09-20T20:25:37.650Z,1758399937.650 [DAT](INFO): DAT read: Bearing 275.5, -9.0 (Local)
2025-09-20T20:25:37.651Z,1758399937.651 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -9.0 (Local)
2025-09-20T20:25:37.653Z,1758399937.653 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4
2025-09-20T20:25:37.657Z,1758399937.657 [DAT](INFO): DAT read: 20:25:39.9616 LVL= 19696, 24225, 18354, 28819, AGC= 51, IDX= 507,-0.02, 1.746, 0.204, 2.251, 1.702, PHS= 0.146,-1.453, 0.505, RAW= 159.9, 8.9, CAL= 159.7, 9.4, ROT= 350.3, -9.4
2025-09-20T20:25:37.658Z,1758399937.658 [DAT](INFO): got valid direction response:
20:25:39.9616 LVL= 19696, 24225, 18354, 28819, AGC= 51, IDX= 507,-0.02, 1.746, 0.204, 2.251, 1.702, PHS= 0.146,-1.453, 0.505, RAW= 159.9, 8.9, CAL= 159.7, 9.4, ROT= 350.3, -9.4
2025-09-20T20:25:37.660Z,1758399937.660 [DAT](INFO): #Rx 87: Read range and direction messages.
2025-09-20T20:25:37.661Z,1758399937.661 [DAT](INFO): direction in FSK: [0.972468,-0.166227,0.163326]
2025-09-20T20:25:37.661Z,1758399937.661 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:37.665Z,1758399937.665 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.111393
2025-09-20T20:25:37.843Z,1758399937.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.700000 m,
deltaT: 0.499501 s,
deltaX: -0.100000 m,
approachRate: -0.200201 m/s,
rangeRepo size: 4
2025-09-20T20:25:37.845Z,1758399937.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.639761 m,
bearing: 95.422930 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 0.499501 s,
deltaX: -0.099561 m,
approachRate: -0.199320 m/s,
posRepo size: 4
2025-09-20T20:25:37.846Z,1758399937.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.64 m.
2025-09-20T20:25:37.853Z,1758399937.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.639761 m,
nav range: 13.420975 m,
bearing: 95.530786 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.073477 deg/s,
cmd heading: 101.148128 deg,
new cmd heading: 101.081435 deg.
2025-09-20T20:25:37.853Z,1758399937.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.764204 target range: 13.639761 and range: 13.70 m.
2025-09-20T20:25:37.901Z,1758399937.901 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.347656
2025-09-20T20:25:38.152Z,1758399938.152 [DAT](INFO): DAT read: Rx Time:20:25:40.4613
2025-09-20T20:25:38.153Z,1758399938.153 [DAT](INFO): Rx dataTimestamp_ set to:1758399938.152606
2025-09-20T20:25:38.154Z,1758399938.154 [DAT](INFO): DAT read: Bearing 275.0, -8.6 (Local)
2025-09-20T20:25:38.154Z,1758399938.154 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.0, -8.6 (Local)
2025-09-20T20:25:38.157Z,1758399938.157 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4
2025-09-20T20:25:38.161Z,1758399938.161 [DAT](INFO): DAT read: 20:25:40.4613 LVL= 20208, 24257, 18210, 29171, AGC= 51, IDX= 504, 0.21, 1.963, 0.401, 2.462, 1.902, PHS= 0.163,-1.456, 0.516, RAW= 159.7, 8.6, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:38.162Z,1758399938.162 [DAT](INFO): got valid direction response:
20:25:40.4613 LVL= 20208, 24257, 18210, 29171, AGC= 51, IDX= 504, 0.21, 1.963, 0.401, 2.462, 1.902, PHS= 0.163,-1.456, 0.516, RAW= 159.7, 8.6, CAL= 159.4, 8.9, ROT= 350.6, -8.9
2025-09-20T20:25:38.162Z,1758399938.162 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-09-20T20:25:38.164Z,1758399938.164 [DAT](INFO): direction in FSK: [0.974694,-0.161359,0.154710]
2025-09-20T20:25:38.164Z,1758399938.164 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:38.173Z,1758399938.173 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.619385
2025-09-20T20:25:38.311Z,1758399938.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.503800 s,
deltaX: -0.500000 m,
approachRate: -0.992457 m/s,
rangeRepo size: 4
2025-09-20T20:25:38.313Z,1758399938.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.142162 m,
bearing: 95.620087 deg,
lat: 36.779302 deg,
lon: -121.859537 deg,
deltaT: 0.503800 s,
deltaX: -0.497599 m,
approachRate: -0.987691 m/s,
posRepo size: 4
2025-09-20T20:25:38.314Z,1758399938.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-09-20T20:25:38.321Z,1758399938.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.142162 m,
nav range: 13.117945 m,
bearing: 95.526709 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.073477 deg/s,
cmd heading: 101.081438 deg,
new cmd heading: 101.012609 deg.
2025-09-20T20:25:38.322Z,1758399938.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.763003 target range: 13.142162 and range: 13.20 m.
2025-09-20T20:25:38.409Z,1758399938.409 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.855946
2025-09-20T20:25:38.642Z,1758399938.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:38.645Z,1758399938.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-09-20T20:25:38.648Z,1758399938.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.142162 m,
nav range: 12.932809 m,
bearing: 95.502473 deg,
approach rate: -0.547448 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 101.012610 deg,
new cmd heading: 100.963444 deg.
2025-09-20T20:25:38.649Z,1758399938.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.762145 target range: 13.142162 and range: 13.20 m.
2025-09-20T20:25:38.661Z,1758399938.661 [DAT](INFO): DAT read: Rx Time:20:25:40.9613
2025-09-20T20:25:38.661Z,1758399938.661 [DAT](INFO): Rx dataTimestamp_ set to:1758399938.660717
2025-09-20T20:25:38.662Z,1758399938.662 [DAT](INFO): DAT read: Bearing 275.5, -8.9 (Local)
2025-09-20T20:25:38.663Z,1758399938.663 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -8.9 (Local)
2025-09-20T20:25:38.665Z,1758399938.665 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4
2025-09-20T20:25:38.669Z,1758399938.669 [DAT](INFO): DAT read: 20:25:40.9613 LVL= 20800, 25217, 18802, 31987, AGC= 52, IDX= 504,-0.41, 1.589, 0.042, 2.091, 1.544, PHS= 0.146,-1.458, 0.502, RAW= 159.8, 9.0, CAL= 159.6, 9.5, ROT= 350.4, -9.5
2025-09-20T20:25:38.670Z,1758399938.670 [DAT](INFO): got valid direction response:
20:25:40.9613 LVL= 20800, 25217, 18802, 31987, AGC= 52, IDX= 504,-0.41, 1.589, 0.042, 2.091, 1.544, PHS= 0.146,-1.458, 0.502, RAW= 159.8, 9.0, CAL= 159.6, 9.5, ROT= 350.4, -9.5
2025-09-20T20:25:38.671Z,1758399938.671 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-09-20T20:25:38.672Z,1758399938.672 [DAT](INFO): direction in FSK: [0.972474,-0.164482,0.165048]
2025-09-20T20:25:38.672Z,1758399938.672 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:38.676Z,1758399938.676 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.122486
2025-09-20T20:25:38.912Z,1758399938.912 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.358795
2025-09-20T20:25:39.117Z,1758399939.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 13.200000 m,
deltaT: 0.508111 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:39.119Z,1758399939.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 13.142162 m,
bearing: 95.320235 deg,
lat: 36.779302 deg,
lon: -121.859537 deg,
deltaT: 0.508111 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:39.120Z,1758399939.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.14 m.
2025-09-20T20:25:39.123Z,1758399939.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 13.142162 m,
nav range: 12.685646 m,
bearing: 95.420680 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 100.963446 deg,
new cmd heading: 100.894860 deg.
2025-09-20T20:25:39.124Z,1758399939.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.760947 target range: 13.142162 and range: 13.20 m.
2025-09-20T20:25:39.166Z,1758399939.166 [DAT](INFO): DAT read: Rx Time:20:25:41.4610
2025-09-20T20:25:39.168Z,1758399939.168 [DAT](INFO): Rx dataTimestamp_ set to:1758399939.166603
2025-09-20T20:25:39.169Z,1758399939.169 [DAT](INFO): DAT read: Bearing 275.6, -8.6 (Local)
2025-09-20T20:25:39.169Z,1758399939.169 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -8.6 (Local)
2025-09-20T20:25:39.176Z,1758399939.176 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4
2025-09-20T20:25:39.182Z,1758399939.182 [DAT](INFO): DAT read: 20:25:41.4610 LVL= 20640, 23649, 18418, 28787, AGC= 51, IDX= 501,-0.11, 0.188,-1.355, 0.674, 0.143, PHS= 0.147,-1.453, 0.487, RAW= 159.5, 9.2, CAL= 159.3, 9.7, ROT= 350.7, -9.7
2025-09-20T20:25:39.192Z,1758399939.192 [DAT](INFO): got valid direction response:
20:25:41.4610 LVL= 20640, 23649, 18418, 28787, AGC= 51, IDX= 501,-0.11, 0.188,-1.355, 0.674, 0.143, PHS= 0.147,-1.453, 0.487, RAW= 159.5, 9.2, CAL= 159.3, 9.7, ROT= 350.7, -9.7
2025-09-20T20:25:39.193Z,1758399939.193 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-09-20T20:25:39.194Z,1758399939.194 [DAT](INFO): direction in FSK: [0.972747,-0.159293,0.168489]
2025-09-20T20:25:39.194Z,1758399939.194 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:39.226Z,1758399939.226 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.672504
2025-09-20T20:25:39.420Z,1758399939.420 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.867165
2025-09-20T20:25:39.505Z,1758399939.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.800000 m,
deltaT: 0.505886 s,
deltaX: -0.400000 m,
approachRate: -0.790691 m/s,
rangeRepo size: 4
2025-09-20T20:25:39.527Z,1758399939.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.744131 m,
bearing: 95.558421 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 0.505886 s,
deltaX: -0.398031 m,
approachRate: -0.786800 m/s,
posRepo size: 4
2025-09-20T20:25:39.530Z,1758399939.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.74 m.
2025-09-20T20:25:39.556Z,1758399939.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.744131 m,
nav range: 12.521779 m,
bearing: 95.395383 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 100.894858 deg,
new cmd heading: 100.839722 deg.
2025-09-20T20:25:39.557Z,1758399939.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.759985 target range: 12.744131 and range: 12.80 m.
2025-09-20T20:25:39.673Z,1758399939.673 [DAT](INFO): DAT read: Rx Time:20:25:41.9608
2025-09-20T20:25:39.673Z,1758399939.673 [DAT](INFO): Rx dataTimestamp_ set to:1758399939.672813
2025-09-20T20:25:39.674Z,1758399939.674 [DAT](INFO): DAT read: Bearing 274.9, -7.9 (Local)
2025-09-20T20:25:39.675Z,1758399939.675 [DAT](INFO): Local bearing/azimuth received:
Bearing 274.9, -7.9 (Local)
2025-09-20T20:25:39.677Z,1758399939.677 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4
2025-09-20T20:25:39.682Z,1758399939.682 [DAT](INFO): DAT read: 20:25:41.9608 LVL= 18800, 25697, 19106, 30067, AGC= 51, IDX= 499, 0.11, 2.126, 0.561, 2.596, 2.056, PHS= 0.172,-1.450, 0.496, RAW= 158.9, 8.7, CAL= 158.6, 9.1, ROT= 351.4, -9.1
2025-09-20T20:25:39.683Z,1758399939.683 [DAT](INFO): got valid direction response:
20:25:41.9608 LVL= 18800, 25697, 19106, 30067, AGC= 51, IDX= 499, 0.11, 2.126, 0.561, 2.596, 2.056, PHS= 0.172,-1.450, 0.496, RAW= 158.9, 8.7, CAL= 158.6, 9.1, ROT= 351.4, -9.1
2025-09-20T20:25:39.684Z,1758399939.684 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-09-20T20:25:39.685Z,1758399939.685 [DAT](INFO): direction in FSK: [0.976312,-0.147654,0.158158]
2025-09-20T20:25:39.685Z,1758399939.685 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:39.701Z,1758399939.701 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.147526
2025-09-20T20:25:39.897Z,1758399939.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.500000 m,
deltaT: 0.506210 s,
deltaX: -0.300000 m,
approachRate: -0.592640 m/s,
rangeRepo size: 4
2025-09-20T20:25:39.899Z,1758399939.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.445440 m,
bearing: 96.140988 deg,
lat: 36.779302 deg,
lon: -121.859536 deg,
deltaT: 0.506210 s,
deltaX: -0.298691 m,
approachRate: -0.590053 m/s,
posRepo size: 4
2025-09-20T20:25:39.900Z,1758399939.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.45 m.
2025-09-20T20:25:39.903Z,1758399939.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.445440 m,
nav range: 12.302628 m,
bearing: 95.466530 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 100.839724 deg,
new cmd heading: 100.781435 deg.
2025-09-20T20:25:39.904Z,1758399939.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.758968 target range: 12.445440 and range: 12.50 m.
2025-09-20T20:25:39.928Z,1758399939.928 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.374825
2025-09-20T20:25:40.181Z,1758399940.181 [DAT](INFO): DAT read: Rx Time:20:25:42.4605
2025-09-20T20:25:40.181Z,1758399940.181 [DAT](INFO): Rx dataTimestamp_ set to:1758399940.180883
2025-09-20T20:25:40.182Z,1758399940.182 [DAT](INFO): DAT read: Bearing 275.0, -7.5 (Local)
2025-09-20T20:25:40.183Z,1758399940.183 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.0, -7.5 (Local)
2025-09-20T20:25:40.185Z,1758399940.185 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4
2025-09-20T20:25:40.190Z,1758399940.190 [DAT](INFO): DAT read: 20:25:42.4605 LVL= 16944, 24913, 16994, 27379, AGC= 51, IDX= 496, 0.34, 1.461,-0.099, 1.912, 1.385, PHS= 0.178,-1.439, 0.483, RAW= 158.5, 8.7, CAL= 158.2, 9.2, ROT= 351.8, -9.2
2025-09-20T20:25:40.191Z,1758399940.191 [DAT](INFO): got valid direction response:
20:25:42.4605 LVL= 16944, 24913, 16994, 27379, AGC= 51, IDX= 496, 0.34, 1.461,-0.099, 1.912, 1.385, PHS= 0.178,-1.439, 0.483, RAW= 158.5, 8.7, CAL= 158.2, 9.2, ROT= 351.8, -9.2
2025-09-20T20:25:40.191Z,1758399940.191 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-09-20T20:25:40.192Z,1758399940.192 [DAT](INFO): direction in FSK: [0.977044,-0.140794,0.159881]
2025-09-20T20:25:40.192Z,1758399940.192 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:40.196Z,1758399940.196 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.642761
2025-09-20T20:25:40.391Z,1758399940.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.508070 s,
deltaX: -0.300000 m,
approachRate: -0.590470 m/s,
rangeRepo size: 4
2025-09-20T20:25:40.397Z,1758399940.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.146885 m,
bearing: 96.458153 deg,
lat: 36.779302 deg,
lon: -121.859537 deg,
deltaT: 0.508070 s,
deltaX: -0.298555 m,
approachRate: -0.587626 m/s,
posRepo size: 4
2025-09-20T20:25:40.398Z,1758399940.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.15 m.
2025-09-20T20:25:40.404Z,1758399940.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.146885 m,
nav range: 11.991194 m,
bearing: 95.553513 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 100.781436 deg,
new cmd heading: 100.709708 deg.
2025-09-20T20:25:40.405Z,1758399940.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.757716 target range: 12.146885 and range: 12.20 m.
2025-09-20T20:25:40.432Z,1758399940.432 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.878933
2025-09-20T20:25:40.685Z,1758399940.685 [DAT](INFO): DAT read: Rx Time:20:25:42.9605
2025-09-20T20:25:40.685Z,1758399940.685 [DAT](INFO): Rx dataTimestamp_ set to:1758399940.685050
2025-09-20T20:25:40.687Z,1758399940.687 [DAT](INFO): DAT read: Bearing 283.5, -12.2 (Local)
2025-09-20T20:25:40.687Z,1758399940.687 [DAT](INFO): Local bearing/azimuth received:
Bearing 283.5, -12.2 (Local)
2025-09-20T20:25:40.689Z,1758399940.689 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4
2025-09-20T20:25:40.694Z,1758399940.694 [DAT](INFO): DAT read: 20:25:42.9605 LVL= 19360, 26001, 18274, 28243, AGC= 53, IDX= 512,-0.36, 2.394, 1.052, 2.940, 2.575, PHS=-0.079,-1.478, 0.321, RAW= 162.2, 15.0, CAL= 163.0, 17.7, ROT= 347.0, -17.7
2025-09-20T20:25:40.695Z,1758399940.695 [DAT](INFO): got valid direction response:
20:25:42.9605 LVL= 19360, 26001, 18274, 28243, AGC= 53, IDX= 512,-0.36, 2.394, 1.052, 2.940, 2.575, PHS=-0.079,-1.478, 0.321, RAW= 162.2, 15.0, CAL= 163.0, 17.7, ROT= 347.0, -17.7
2025-09-20T20:25:40.703Z,1758399940.703 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-09-20T20:25:40.704Z,1758399940.704 [DAT](INFO): direction in FSK: [0.928245,-0.214302,0.304033]
2025-09-20T20:25:40.705Z,1758399940.705 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:40.708Z,1758399940.708 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.154926
2025-09-20T20:25:40.840Z,1758399940.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 12.200000 m,
deltaT: 0.504167 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:25:40.842Z,1758399940.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 12.146885 m,
bearing: 91.898367 deg,
lat: 36.779302 deg,
lon: -121.859537 deg,
deltaT: 0.504167 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:25:40.843Z,1758399940.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.15 m.
2025-09-20T20:25:40.853Z,1758399940.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 12.146885 m,
nav range: 11.765619 m,
bearing: 95.537493 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 100.709705 deg,
new cmd heading: 100.646156 deg.
2025-09-20T20:25:40.854Z,1758399940.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756607 target range: 12.146885 and range: 12.20 m.
2025-09-20T20:25:40.936Z,1758399940.936 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.383152
2025-09-20T20:25:41.189Z,1758399941.189 [DAT](INFO): DAT read: Rx Time:20:25:43.4602
2025-09-20T20:25:41.189Z,1758399941.189 [DAT](INFO): Rx dataTimestamp_ set to:1758399941.188804
2025-09-20T20:25:41.190Z,1758399941.190 [DAT](INFO): DAT read: Bearing 275.5, -7.1 (Local)
2025-09-20T20:25:41.191Z,1758399941.191 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.5, -7.1 (Local)
2025-09-20T20:25:41.193Z,1758399941.193 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.4
2025-09-20T20:25:41.197Z,1758399941.197 [DAT](INFO): DAT read: 20:25:43.4602 LVL= 16368, 25729, 16082, 25427, AGC= 52, IDX= 509,-0.11, 1.272,-0.270, 1.698, 1.204, PHS= 0.170,-1.429, 0.450, RAW= 157.9, 9.3, CAL= 157.7, 9.9, ROT= 352.3, -9.9
2025-09-20T20:25:41.198Z,1758399941.198 [DAT](INFO): got valid direction response:
20:25:43.4602 LVL= 16368, 25729, 16082, 25427, AGC= 52, IDX= 509,-0.11, 1.272,-0.270, 1.698, 1.204, PHS= 0.170,-1.429, 0.450, RAW= 157.9, 9.3, CAL= 157.7, 9.9, ROT= 352.3, -9.9
2025-09-20T20:25:41.199Z,1758399941.199 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-09-20T20:25:41.200Z,1758399941.200 [DAT](INFO): direction in FSK: [0.976227,-0.131991,0.171929]
2025-09-20T20:25:41.200Z,1758399941.200 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:41.208Z,1758399941.208 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.654903
2025-09-20T20:25:41.339Z,1758399941.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.700000 m,
deltaT: 0.503754 s,
deltaX: -0.500000 m,
approachRate: -0.992548 m/s,
rangeRepo size: 4
2025-09-20T20:25:41.341Z,1758399941.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.648968 m,
bearing: 96.755318 deg,
lat: 36.779301 deg,
lon: -121.859538 deg,
deltaT: 0.503754 s,
deltaX: -0.497917 m,
approachRate: -0.988413 m/s,
posRepo size: 4
2025-09-20T20:25:41.342Z,1758399941.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.65 m.
2025-09-20T20:25:41.349Z,1758399941.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.648968 m,
nav range: 11.455256 m,
bearing: 96.146199 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.072692 deg/s,
cmd heading: 100.646157 deg,
new cmd heading: 100.572426 deg.
2025-09-20T20:25:41.350Z,1758399941.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755320 target range: 11.648968 and range: 11.70 m.
2025-09-20T20:25:41.441Z,1758399941.441 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.887680
2025-09-20T20:25:41.670Z,1758399941.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:41.672Z,1758399941.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.65 m.
2025-09-20T20:25:41.675Z,1758399941.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.648968 m,
nav range: 11.267262 m,
bearing: 96.140692 deg,
approach rate: -0.555986 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.572425 deg,
new cmd heading: 100.561229 deg.
2025-09-20T20:25:41.676Z,1758399941.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755125 target range: 11.648968 and range: 11.70 m.
2025-09-20T20:25:41.695Z,1758399941.695 [DAT](INFO): DAT read: Rx Time:20:25:43.9601
2025-09-20T20:25:41.695Z,1758399941.695 [DAT](INFO): Rx dataTimestamp_ set to:1758399941.694976
2025-09-20T20:25:41.697Z,1758399941.697 [DAT](INFO): DAT read: Bearing 274.8, -6.7 (Local)
2025-09-20T20:25:41.697Z,1758399941.697 [DAT](INFO): Local bearing/azimuth received:
Bearing 274.8, -6.7 (Local)
2025-09-20T20:25:41.700Z,1758399941.700 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4
2025-09-20T20:25:41.722Z,1758399941.722 [DAT](INFO): DAT read: 20:25:43.9601 LVL= 17504, 26289, 16786, 24755, AGC= 53, IDX= 508, 0.18,-2.426, 2.285,-2.011,-2.519, PHS= 0.195,-1.434, 0.464, RAW= 157.5, 8.7, CAL= 157.2, 9.2, ROT= 352.8, -9.2
2025-09-20T20:25:41.725Z,1758399941.725 [DAT](INFO): got valid direction response:
20:25:43.9601 LVL= 17504, 26289, 16786, 24755, AGC= 53, IDX= 508, 0.18,-2.426, 2.285,-2.011,-2.519, PHS= 0.195,-1.434, 0.464, RAW= 157.5, 8.7, CAL= 157.2, 9.2, ROT= 352.8, -9.2
2025-09-20T20:25:41.726Z,1758399941.726 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-09-20T20:25:41.728Z,1758399941.728 [DAT](INFO): direction in FSK: [0.979352,-0.123721,0.159881]
2025-09-20T20:25:41.729Z,1758399941.729 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:41.758Z,1758399941.758 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.204678
2025-09-20T20:25:41.944Z,1758399941.944 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=47.390793
2025-09-20T20:25:42.151Z,1758399942.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.600000 m,
deltaT: 0.506172 s,
deltaX: -0.099999 m,
approachRate: -0.197560 m/s,
rangeRepo size: 4
2025-09-20T20:25:42.153Z,1758399942.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.549404 m,
bearing: 97.088113 deg,
lat: 36.779300 deg,
lon: -121.859538 deg,
deltaT: 0.506172 s,
deltaX: -0.099564 m,
approachRate: -0.196699 m/s,
posRepo size: 4
2025-09-20T20:25:42.154Z,1758399942.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.55 m.
2025-09-20T20:25:42.156Z,1758399942.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.549404 m,
nav range: 11.017426 m,
bearing: 96.438486 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.561230 deg,
new cmd heading: 100.545414 deg.
2025-09-20T20:25:42.157Z,1758399942.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754848 target range: 11.549404 and range: 11.60 m.
2025-09-20T20:25:42.198Z,1758399942.198 [DAT](INFO): DAT read: Rx Time:20:25:44.4599
2025-09-20T20:25:42.198Z,1758399942.198 [DAT](INFO): Rx dataTimestamp_ set to:1758399942.197830
2025-09-20T20:25:42.201Z,1758399942.201 [DAT](INFO): DAT read: Bearing 275.6, -6.3 (Local)
2025-09-20T20:25:42.202Z,1758399942.202 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.6, -6.3 (Local)
2025-09-20T20:25:42.205Z,1758399942.205 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.4
2025-09-20T20:25:42.212Z,1758399942.212 [DAT](INFO): DAT read: 20:25:44.4599 LVL= 18336, 27185, 17906, 28019, AGC= 53, IDX= 506,-0.34, 0.048,-1.503, 0.438,-0.031, PHS= 0.181,-1.428, 0.425, RAW= 157.0, 9.5, CAL= 156.8, 10.1, ROT= 353.2, -10.1
2025-09-20T20:25:42.214Z,1758399942.214 [DAT](INFO): got valid direction response:
20:25:44.4599 LVL= 18336, 27185, 17906, 28019, AGC= 53, IDX= 506,-0.34, 0.048,-1.503, 0.438,-0.031, PHS= 0.181,-1.428, 0.425, RAW= 157.0, 9.5, CAL= 156.8, 10.1, ROT= 353.2, -10.1
2025-09-20T20:25:42.214Z,1758399942.214 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-09-20T20:25:42.225Z,1758399942.225 [DAT](INFO): direction in FSK: [0.977578,-0.116569,0.175367]
2025-09-20T20:25:42.226Z,1758399942.226 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:42.238Z,1758399942.238 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.684338
2025-09-20T20:25:42.448Z,1758399942.448 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.894844
2025-09-20T20:25:42.571Z,1758399942.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.300000 m,
deltaT: 0.502854 s,
deltaX: -0.300000 m,
approachRate: -0.596595 m/s,
rangeRepo size: 4
2025-09-20T20:25:42.573Z,1758399942.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.250505 m,
bearing: 97.433755 deg,
lat: 36.779300 deg,
lon: -121.859538 deg,
deltaT: 0.502854 s,
deltaX: -0.298899 m,
approachRate: -0.594405 m/s,
posRepo size: 4
2025-09-20T20:25:42.574Z,1758399942.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.25 m.
2025-09-20T20:25:42.581Z,1758399942.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.250505 m,
nav range: 10.819969 m,
bearing: 96.726271 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.545412 deg,
new cmd heading: 100.531750 deg.
2025-09-20T20:25:42.582Z,1758399942.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754610 target range: 11.250505 and range: 11.30 m.
2025-09-20T20:25:42.701Z,1758399942.701 [DAT](INFO): DAT read: Rx Time:20:25:44.9598
2025-09-20T20:25:42.701Z,1758399942.701 [DAT](INFO): Rx dataTimestamp_ set to:1758399942.700965
2025-09-20T20:25:42.703Z,1758399942.703 [DAT](INFO): DAT read: Bearing 275.7, -5.9 (Local)
2025-09-20T20:25:42.703Z,1758399942.703 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -5.9 (Local)
2025-09-20T20:25:42.705Z,1758399942.705 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.4
2025-09-20T20:25:42.710Z,1758399942.710 [DAT](INFO): DAT read: 20:25:44.9598 LVL= 17184, 23841, 19618, 28659, AGC= 52, IDX= 505,-0.02, 1.539,-0.030, 1.914, 1.456, PHS= 0.184,-1.442, 0.414, RAW= 156.5, 9.7, CAL= 156.3, 10.4, ROT= 353.7, -10.4
2025-09-20T20:25:42.712Z,1758399942.712 [DAT](INFO): got valid direction response:
20:25:44.9598 LVL= 17184, 23841, 19618, 28659, AGC= 52, IDX= 505,-0.02, 1.539,-0.030, 1.914, 1.456, PHS= 0.184,-1.442, 0.414, RAW= 156.5, 9.7, CAL= 156.3, 10.4, ROT= 353.7, -10.4
2025-09-20T20:25:42.712Z,1758399942.712 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-09-20T20:25:42.714Z,1758399942.714 [DAT](INFO): direction in FSK: [0.977632,-0.107931,0.180519]
2025-09-20T20:25:42.715Z,1758399942.715 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:42.723Z,1758399942.723 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.169415
2025-09-20T20:25:42.941Z,1758399942.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 11.100000 m,
deltaT: 0.503135 s,
deltaX: -0.200000 m,
approachRate: -0.397507 m/s,
rangeRepo size: 4
2025-09-20T20:25:42.947Z,1758399942.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 11.051382 m,
bearing: 97.867597 deg,
lat: 36.779299 deg,
lon: -121.859535 deg,
deltaT: 0.503135 s,
deltaX: -0.199123 m,
approachRate: -0.395765 m/s,
posRepo size: 4
2025-09-20T20:25:42.948Z,1758399942.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.05 m.
2025-09-20T20:25:42.950Z,1758399942.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 11.051382 m,
nav range: 10.822354 m,
bearing: 97.171366 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.531751 deg,
new cmd heading: 100.519245 deg.
2025-09-20T20:25:42.952Z,1758399942.952 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=48.398918
2025-09-20T20:25:42.956Z,1758399942.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754392 target range: 11.051382 and range: 11.10 m.
2025-09-20T20:25:43.205Z,1758399943.205 [DAT](INFO): DAT read: Rx Time:20:25:45.4595
2025-09-20T20:25:43.205Z,1758399943.205 [DAT](INFO): Rx dataTimestamp_ set to:1758399943.204853
2025-09-20T20:25:43.206Z,1758399943.206 [DAT](INFO): DAT read: Bearing 275.2, -5.7 (Local)
2025-09-20T20:25:43.207Z,1758399943.207 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.2, -5.7 (Local)
2025-09-20T20:25:43.209Z,1758399943.209 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed 0.4
2025-09-20T20:25:43.217Z,1758399943.217 [DAT](INFO): DAT read: 20:25:45.4595 LVL= 18496, 25697, 19938, 29443, AGC= 53, IDX= 502, 0.28, 1.526,-0.060, 1.896, 1.429, PHS= 0.199,-1.444, 0.423, RAW= 156.3, 9.4, CAL= 156.0, 10.0, ROT= 354.0, -10.0
2025-09-20T20:25:43.228Z,1758399943.228 [DAT](INFO): got valid direction response:
20:25:45.4595 LVL= 18496, 25697, 19938, 29443, AGC= 53, IDX= 502, 0.28, 1.526,-0.060, 1.896, 1.429, PHS= 0.199,-1.444, 0.423, RAW= 156.3, 9.4, CAL= 156.0, 10.0, ROT= 354.0, -10.0
2025-09-20T20:25:43.228Z,1758399943.228 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-09-20T20:25:43.231Z,1758399943.231 [DAT](INFO): direction in FSK: [0.979413,-0.102941,0.173648]
2025-09-20T20:25:43.237Z,1758399943.237 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:43.246Z,1758399943.246 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.693092
2025-09-20T20:25:43.411Z,1758399943.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.700000 m,
deltaT: 0.503888 s,
deltaX: -0.400001 m,
approachRate: -0.793828 m/s,
rangeRepo size: 4
2025-09-20T20:25:43.413Z,1758399943.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.653263 m,
bearing: 98.065097 deg,
lat: 36.779298 deg,
lon: -121.859535 deg,
deltaT: 0.503888 s,
deltaX: -0.398119 m,
approachRate: -0.790094 m/s,
posRepo size: 4
2025-09-20T20:25:43.414Z,1758399943.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.65 m.
2025-09-20T20:25:43.428Z,1758399943.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.653263 m,
nav range: 10.572636 m,
bearing: 97.421714 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.519245 deg,
new cmd heading: 100.503821 deg.
2025-09-20T20:25:43.429Z,1758399943.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.754123 target range: 10.653263 and range: 10.70 m.
2025-09-20T20:25:43.458Z,1758399943.458 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.905296
2025-09-20T20:25:43.709Z,1758399943.709 [DAT](INFO): DAT read: Rx Time:20:25:45.9593
2025-09-20T20:25:43.709Z,1758399943.709 [DAT](INFO): Rx dataTimestamp_ set to:1758399943.708764
2025-09-20T20:25:43.711Z,1758399943.711 [DAT](INFO): DAT read: Bearing 276.2, -5.1 (Local)
2025-09-20T20:25:43.712Z,1758399943.712 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.2, -5.1 (Local)
2025-09-20T20:25:43.716Z,1758399943.716 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4
2025-09-20T20:25:43.744Z,1758399943.744 [DAT](INFO): DAT read: 20:25:45.9593 LVL= 17056, 27121, 18210, 26867, AGC= 51, IDX= 501,-0.25,-0.752,-2.298,-0.417,-0.833, PHS= 0.184,-1.419, 0.373, RAW= 155.5, 10.1, CAL= 155.4, 11.0, ROT= 354.6, -11.0
2025-09-20T20:25:43.745Z,1758399943.745 [DAT](INFO): got valid direction response:
20:25:45.9593 LVL= 17056, 27121, 18210, 26867, AGC= 51, IDX= 501,-0.25,-0.752,-2.298,-0.417,-0.833, PHS= 0.184,-1.419, 0.373, RAW= 155.5, 10.1, CAL= 155.4, 11.0, ROT= 354.6, -11.0
2025-09-20T20:25:43.746Z,1758399943.746 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-09-20T20:25:43.747Z,1758399943.747 [DAT](INFO): direction in FSK: [0.977271,-0.092379,0.190809]
2025-09-20T20:25:43.766Z,1758399943.766 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:43.798Z,1758399943.798 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.245155
2025-09-20T20:25:43.868Z,1758399943.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 10.400000 m,
deltaT: 0.503911 s,
deltaX: -0.300000 m,
approachRate: -0.595344 m/s,
rangeRepo size: 4
2025-09-20T20:25:43.870Z,1758399943.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 10.354573 m,
bearing: 98.636167 deg,
lat: 36.779298 deg,
lon: -121.859535 deg,
deltaT: 0.503911 s,
deltaX: -0.298690 m,
approachRate: -0.592743 m/s,
posRepo size: 4
2025-09-20T20:25:43.871Z,1758399943.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.35 m.
2025-09-20T20:25:43.877Z,1758399943.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 10.354573 m,
nav range: 10.327642 m,
bearing: 97.853075 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.503823 deg,
new cmd heading: 100.488557 deg.
2025-09-20T20:25:43.878Z,1758399943.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753856 target range: 10.354573 and range: 10.40 m.
2025-09-20T20:25:43.960Z,1758399943.960 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.407150
2025-09-20T20:25:44.214Z,1758399944.214 [DAT](INFO): DAT read: Rx Time:20:25:46.4590
2025-09-20T20:25:44.216Z,1758399944.216 [DAT](INFO): Rx dataTimestamp_ set to:1758399944.214563
2025-09-20T20:25:44.219Z,1758399944.219 [DAT](INFO): DAT read: Bearing 275.7, -5.1 (Local)
2025-09-20T20:25:44.220Z,1758399944.220 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.7, -5.1 (Local)
2025-09-20T20:25:44.227Z,1758399944.227 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4
2025-09-20T20:25:44.257Z,1758399944.257 [DAT](INFO): DAT read: 20:25:46.4590 LVL= 17360, 27377, 18002, 25667, AGC= 52, IDX= 498, 0.04, 0.109,-1.477, 0.453, 0.014, PHS= 0.198,-1.446, 0.395, RAW= 155.6, 9.8, CAL= 155.4, 10.6, ROT= 354.6, -10.6
2025-09-20T20:25:44.258Z,1758399944.258 [DAT](INFO): got valid direction response:
20:25:46.4590 LVL= 17360, 27377, 18002, 25667, AGC= 52, IDX= 498, 0.04, 0.109,-1.477, 0.453, 0.014, PHS= 0.198,-1.446, 0.395, RAW= 155.6, 9.8, CAL= 155.4, 10.6, ROT= 354.6, -10.6
2025-09-20T20:25:44.283Z,1758399944.283 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-09-20T20:25:44.284Z,1758399944.284 [DAT](INFO): direction in FSK: [0.978573,-0.092502,0.183951]
2025-09-20T20:25:44.284Z,1758399944.284 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:44.315Z,1758399944.315 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.761402
2025-09-20T20:25:44.392Z,1758399944.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.900000 m,
deltaT: 0.505799 s,
deltaX: -0.500000 m,
approachRate: -0.988535 m/s,
rangeRepo size: 4
2025-09-20T20:25:44.394Z,1758399944.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.856755 m,
bearing: 98.620693 deg,
lat: 36.779297 deg,
lon: -121.859537 deg,
deltaT: 0.505799 s,
deltaX: -0.497818 m,
approachRate: -0.984221 m/s,
posRepo size: 4
2025-09-20T20:25:44.394Z,1758399944.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.86 m.
2025-09-20T20:25:44.399Z,1758399944.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m.
2025-09-20T20:25:44.399Z,1758399944.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-09-20T20:25:44.402Z,1758399944.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 9.944566 m,
bearing: 98.097962 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.488557 deg,
new cmd heading: 100.471347 deg.
2025-09-20T20:25:44.407Z,1758399944.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753556 target range: 9.856755 and range: 9.90 m.
2025-09-20T20:25:44.465Z,1758399944.465 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.911438
2025-09-20T20:25:44.718Z,1758399944.718 [DAT](INFO): DAT read: Rx Time:20:25:46.9589
2025-09-20T20:25:44.719Z,1758399944.719 [DAT](INFO): Rx dataTimestamp_ set to:1758399944.718495
2025-09-20T20:25:44.721Z,1758399944.721 [DAT](INFO): DAT read: Bearing 275.8, -5.0 (Local)
2025-09-20T20:25:44.722Z,1758399944.722 [DAT](INFO): Local bearing/azimuth received:
Bearing 275.8, -5.0 (Local)
2025-09-20T20:25:44.725Z,1758399944.725 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4
2025-09-20T20:25:44.741Z,1758399944.741 [DAT](INFO): DAT read: 20:25:46.9589 LVL= 17264, 28465, 17682, 26451, AGC= 52, IDX= 497, 0.32, 1.874, 0.281, 2.214, 1.781, PHS= 0.195,-1.455, 0.390, RAW= 155.5, 9.9, CAL= 155.3, 10.8, ROT= 354.7, -10.8
2025-09-20T20:25:44.743Z,1758399944.743 [DAT](INFO): got valid direction response:
20:25:46.9589 LVL= 17264, 28465, 17682, 26451, AGC= 52, IDX= 497, 0.32, 1.874, 0.281, 2.214, 1.781, PHS= 0.195,-1.455, 0.390, RAW= 155.5, 9.9, CAL= 155.3, 10.8, ROT= 354.7, -10.8
2025-09-20T20:25:44.752Z,1758399944.752 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-09-20T20:25:44.768Z,1758399944.768 [DAT](INFO): direction in FSK: [0.978088,-0.090734,0.187381]
2025-09-20T20:25:44.768Z,1758399944.768 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:44.789Z,1758399944.789 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.236103
2025-09-20T20:25:44.848Z,1758399944.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.800000 m,
deltaT: 0.503932 s,
deltaX: -0.099999 m,
approachRate: -0.198438 m/s,
rangeRepo size: 4
2025-09-20T20:25:44.850Z,1758399944.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.757193 m,
bearing: 98.599633 deg,
lat: 36.779297 deg,
lon: -121.859537 deg,
deltaT: 0.503932 s,
deltaX: -0.099563 m,
approachRate: -0.197572 m/s,
posRepo size: 4
2025-09-20T20:25:44.860Z,1758399944.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.76 m. 9.86 m.
2025-09-20T20:25:44.862Z,1758399944.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 9.704964 m,
bearing: 98.134721 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.471345 deg,
new cmd heading: 100.456243 deg.
2025-09-20T20:25:44.867Z,1758399944.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753292 target range: 9.856755 and range: 9.80 m.
2025-09-20T20:25:44.969Z,1758399944.969 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.415489
2025-09-20T20:25:45.222Z,1758399945.222 [DAT](INFO): DAT read: Rx Time:20:25:47.4587
2025-09-20T20:25:45.223Z,1758399945.223 [DAT](INFO): Rx dataTimestamp_ set to:1758399945.222775
2025-09-20T20:25:45.225Z,1758399945.225 [DAT](INFO): DAT read: Bearing 276.5, -4.7 (Local)
2025-09-20T20:25:45.226Z,1758399945.226 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.5, -4.7 (Local)
2025-09-20T20:25:45.230Z,1758399945.230 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4
2025-09-20T20:25:45.241Z,1758399945.241 [DAT](INFO): DAT read: 20:25:47.4587 LVL= 16368, 26961, 17746, 25523, AGC= 51, IDX= 511,-0.25,-0.757,-2.319,-0.436,-0.834, PHS= 0.179,-1.440, 0.354, RAW= 155.1, 10.6, CAL= 155.0, 11.6, ROT= 355.0, -11.6
2025-09-20T20:25:45.242Z,1758399945.242 [DAT](INFO): got valid direction response:
20:25:47.4587 LVL= 16368, 26961, 17746, 25523, AGC= 51, IDX= 511,-0.25,-0.757,-2.319,-0.436,-0.834, PHS= 0.179,-1.440, 0.354, RAW= 155.1, 10.6, CAL= 155.0, 11.6, ROT= 355.0, -11.6
2025-09-20T20:25:45.242Z,1758399945.242 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-09-20T20:25:45.251Z,1758399945.251 [DAT](INFO): direction in FSK: [0.975848,-0.085375,0.201078]
2025-09-20T20:25:45.252Z,1758399945.252 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:45.263Z,1758399945.263 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.710110
2025-09-20T20:25:45.358Z,1758399945.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.500000 m,
deltaT: 0.504280 s,
deltaX: -0.300000 m,
approachRate: -0.594908 m/s,
rangeRepo size: 4
2025-09-20T20:25:45.364Z,1758399945.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.458531 m,
bearing: 98.805272 deg,
lat: 36.779297 deg,
lon: -121.859538 deg,
deltaT: 1.008212 s,
deltaX: -0.398224 m,
approachRate: -0.394980 m/s,
posRepo size: 4
2025-09-20T20:25:45.365Z,1758399945.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.46 m. 9.86 m.
2025-09-20T20:25:45.372Z,1758399945.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 9.425707 m,
bearing: 98.153093 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.456243 deg,
new cmd heading: 100.439213 deg.
2025-09-20T20:25:45.373Z,1758399945.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752995 target range: 9.856755 and range: 9.50 m.
2025-09-20T20:25:45.477Z,1758399945.477 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.923672
2025-09-20T20:25:45.730Z,1758399945.730 [DAT](INFO): DAT read: Rx Time:20:25:47.9586
2025-09-20T20:25:45.731Z,1758399945.731 [DAT](INFO): Rx dataTimestamp_ set to:1758399945.730387
2025-09-20T20:25:45.733Z,1758399945.733 [DAT](INFO): DAT read: Bearing 276.1, -4.8 (Local)
2025-09-20T20:25:45.734Z,1758399945.734 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.1, -4.8 (Local)
2025-09-20T20:25:45.738Z,1758399945.738 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4
2025-09-20T20:25:45.751Z,1758399945.751 [DAT](INFO): DAT read: 20:25:47.9586 LVL= 17568, 27633, 18978, 26579, AGC= 51, IDX= 510, 0.06, 2.463, 0.859, 2.795, 2.375, PHS= 0.190,-1.471, 0.376, RAW= 155.2, 10.3, CAL= 155.1, 11.2, ROT= 354.9, -11.2
2025-09-20T20:25:45.753Z,1758399945.753 [DAT](INFO): got valid direction response:
20:25:47.9586 LVL= 17568, 27633, 18978, 26579, AGC= 51, IDX= 510, 0.06, 2.463, 0.859, 2.795, 2.375, PHS= 0.190,-1.471, 0.376, RAW= 155.2, 10.3, CAL= 155.1, 11.2, ROT= 354.9, -11.2
2025-09-20T20:25:45.753Z,1758399945.753 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-09-20T20:25:45.756Z,1758399945.756 [DAT](INFO): direction in FSK: [0.977072,-0.087201,0.194234]
2025-09-20T20:25:45.756Z,1758399945.756 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:45.762Z,1758399945.762 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.208893
2025-09-20T20:25:45.792Z,1758399945.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 9.300000 m,
deltaT: 0.507612 s,
deltaX: -0.200000 m,
approachRate: -0.394001 m/s,
rangeRepo size: 4
2025-09-20T20:25:45.794Z,1758399945.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 9.259405 m,
bearing: 98.646959 deg,
lat: 36.779297 deg,
lon: -121.859538 deg,
deltaT: 1.515824 s,
deltaX: -0.597350 m,
approachRate: -0.394076 m/s,
posRepo size: 4
2025-09-20T20:25:45.800Z,1758399945.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.26 m. 9.86 m.
2025-09-20T20:25:45.802Z,1758399945.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 9.222964 m,
bearing: 98.168054 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.439216 deg,
new cmd heading: 100.424994 deg.
2025-09-20T20:25:45.815Z,1758399945.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752747 target range: 9.856755 and range: 9.30 m.
2025-09-20T20:25:45.985Z,1758399945.985 [DAT](INFO): DAT read: Rx Time:20:25:48.4583
2025-09-20T20:25:45.988Z,1758399945.988 [DAT](INFO): Rx dataTimestamp_ set to:1758399945.986041
2025-09-20T20:25:45.991Z,1758399945.991 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=51.436787
2025-09-20T20:25:46.234Z,1758399946.234 [DAT](INFO): DAT read: Bearing 276.3, -4.9 (Local)
2025-09-20T20:25:46.235Z,1758399946.235 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.3, -4.9 (Local)
2025-09-20T20:25:46.238Z,1758399946.238 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4
2025-09-20T20:25:46.243Z,1758399946.243 [DAT](INFO): DAT read: 20:25:48.4583 LVL= 17264, 27441, 17522, 26931, AGC= 50, IDX= 507, 0.48, 0.572,-1.026, 0.901, 0.490, PHS= 0.184,-1.470, 0.367, RAW= 155.2, 10.5, CAL= 155.1, 11.5, ROT= 354.9, -11.5
2025-09-20T20:25:46.244Z,1758399946.244 [DAT](INFO): got valid direction response:
20:25:48.4583 LVL= 17264, 27441, 17522, 26931, AGC= 50, IDX= 507, 0.48, 0.572,-1.026, 0.901, 0.490, PHS= 0.184,-1.470, 0.367, RAW= 155.2, 10.5, CAL= 155.1, 11.5, ROT= 354.9, -11.5
2025-09-20T20:25:46.244Z,1758399946.244 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-09-20T20:25:46.245Z,1758399946.245 [DAT](INFO): direction in FSK: [0.976045,-0.087110,0.199368]
2025-09-20T20:25:46.246Z,1758399946.246 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:46.250Z,1758399946.250 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.697266
2025-09-20T20:25:46.297Z,1758399946.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.900000 m,
deltaT: 0.501440 s,
deltaX: -0.400001 m,
approachRate: -0.797704 m/s,
rangeRepo size: 4
2025-09-20T20:25:46.311Z,1758399946.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.861432 m,
bearing: 98.572269 deg,
lat: 36.779297 deg,
lon: -121.859539 deg,
deltaT: 2.017264 s,
deltaX: -0.995323 m,
approachRate: -0.493403 m/s,
posRepo size: 4
2025-09-20T20:25:46.316Z,1758399946.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.86 m. 9.86 m.
2025-09-20T20:25:46.319Z,1758399946.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 8.948139 m,
bearing: 98.166254 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.424995 deg,
new cmd heading: 100.408124 deg.
2025-09-20T20:25:46.324Z,1758399946.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752452 target range: 9.856755 and range: 8.90 m.
2025-09-20T20:25:46.490Z,1758399946.490 [DAT](INFO): DAT read: Rx Time:20:25:48.9583
2025-09-20T20:25:46.493Z,1758399946.493 [DAT](INFO): Rx dataTimestamp_ set to:1758399946.491297
2025-09-20T20:25:46.496Z,1758399946.496 [DAT](INFO): DAT read: Bearing 277.0, -4.6 (Local)
2025-09-20T20:25:46.498Z,1758399946.498 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.0, -4.6 (Local)
2025-09-20T20:25:46.502Z,1758399946.502 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.948189
2025-09-20T20:25:46.658Z,1758399946.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:46.661Z,1758399946.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:46.688Z,1758399946.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 8.739169 m,
bearing: 98.165132 deg,
approach rate: -0.573158 m/s,
LOS rate: -0.003152 deg/s,
cmd heading: 100.408125 deg,
new cmd heading: 100.405826 deg.
2025-09-20T20:25:46.689Z,1758399946.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752412 target range: 9.856755 and range: 8.90 m.
2025-09-20T20:25:46.739Z,1758399946.739 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4
2025-09-20T20:25:46.744Z,1758399946.744 [DAT](INFO): DAT read: 20:25:48.9583 LVL= 17760, 27121, 17250, 27059, AGC= 49, IDX= 507,-0.03,-0.146,-1.721, 0.168,-0.214, PHS= 0.170,-1.462, 0.338, RAW= 154.9, 11.1, CAL= 154.8, 12.2, ROT= 355.2, -12.2
2025-09-20T20:25:46.745Z,1758399946.745 [DAT](INFO): got valid direction response:
20:25:48.9583 LVL= 17760, 27121, 17250, 27059, AGC= 49, IDX= 507,-0.03,-0.146,-1.721, 0.168,-0.214, PHS= 0.170,-1.462, 0.338, RAW= 154.9, 11.1, CAL= 154.8, 12.2, ROT= 355.2, -12.2
2025-09-20T20:25:46.746Z,1758399946.746 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-09-20T20:25:46.746Z,1758399946.746 [DAT](INFO): direction in FSK: [0.973988,-0.081788,0.211325]
2025-09-20T20:25:46.747Z,1758399946.747 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:46.751Z,1758399946.751 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=52.197407
2025-09-20T20:25:46.998Z,1758399946.998 [DAT](INFO): DAT read: Rx Time:20:25:49.4581
2025-09-20T20:25:46.000Z,1758399947.000 [DAT](INFO): Rx dataTimestamp_ set to:1758399946.998865
2025-09-20T20:25:47.005Z,1758399947.005 [DAT](INFO): DAT read: Bearing 276.7, -5.0 (Local)
2025-09-20T20:25:47.006Z,1758399947.006 [DAT](INFO): Local bearing/azimuth received:
Bearing 276.7, -5.0 (Local)
2025-09-20T20:25:47.011Z,1758399947.011 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4
2025-09-20T20:25:47.014Z,1758399947.014 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-09-20T20:25:47.018Z,1758399947.018 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.464436
2025-09-20T20:25:47.190Z,1758399947.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.400000 m,
deltaT: 0.767038 s,
deltaX: -0.500000 m,
approachRate: -0.651858 m/s,
rangeRepo size: 4
2025-09-20T20:25:47.192Z,1758399947.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.363599 m,
bearing: 98.789501 deg,
lat: 36.779297 deg,
lon: -121.859539 deg,
deltaT: 2.784302 s,
deltaX: -1.493156 m,
approachRate: -0.536277 m/s,
posRepo size: 4
2025-09-20T20:25:47.193Z,1758399947.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.36 m. 9.86 m.
2025-09-20T20:25:47.200Z,1758399947.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 8.501484 m,
bearing: 98.165524 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.405823 deg,
new cmd heading: 100.388327 deg.
2025-09-20T20:25:47.201Z,1758399947.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752107 target range: 9.856755 and range: 8.40 m.
2025-09-20T20:25:47.244Z,1758399947.244 [DAT](INFO): DAT read: 20:25:49.4581 LVL= 18800, 28721, 18770, 28403, AGC= 49, IDX= 504, 0.31,-0.450,-2.045,-0.122,-0.519, PHS= 0.171,-1.482, 0.352, RAW= 155.2, 11.0, CAL= 155.1, 12.0, ROT= 354.9, -12.0
2025-09-20T20:25:47.245Z,1758399947.245 [DAT](INFO): got valid direction response:
20:25:49.4581 LVL= 18800, 28721, 18770, 28403, AGC= 49, IDX= 504, 0.31,-0.450,-2.045,-0.122,-0.519, PHS= 0.171,-1.482, 0.352, RAW= 155.2, 11.0, CAL= 155.1, 12.0, ROT= 354.9, -12.0
2025-09-20T20:25:47.245Z,1758399947.245 [DAT](INFO): #Rx 107: Read direction message, but no range.
2025-09-20T20:25:47.246Z,1758399947.246 [DAT](INFO): direction in FSK: [0.974275,-0.086952,0.207912]
2025-09-20T20:25:47.250Z,1758399947.250 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.696533
2025-09-20T20:25:47.497Z,1758399947.497 [DAT](INFO): DAT read: Rx Time:20:25:49.9580
2025-09-20T20:25:47.498Z,1758399947.498 [DAT](INFO): Rx dataTimestamp_ set to:1758399947.497463
2025-09-20T20:25:47.514Z,1758399947.514 [DAT](INFO): DAT read: Bearing 277.5, -4.6 (Local)
2025-09-20T20:25:47.515Z,1758399947.515 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.5, -4.6 (Local)
2025-09-20T20:25:47.552Z,1758399947.552 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.4
2025-09-20T20:25:47.566Z,1758399947.566 [DAT](INFO): DAT read: 20:25:49.9580 LVL= 18224, 28241, 18082, 27251, AGC= 48, IDX= 503,-0.16,-2.320, 2.390,-2.012,-2.374, PHS= 0.156,-1.474, 0.318, RAW= 154.7, 11.6, CAL= 154.7, 12.9, ROT= 355.3, -12.9
2025-09-20T20:25:47.567Z,1758399947.567 [DAT](INFO): got valid direction response:
20:25:49.9580 LVL= 18224, 28241, 18082, 27251, AGC= 48, IDX= 503,-0.16,-2.320, 2.390,-2.012,-2.374, PHS= 0.156,-1.474, 0.318, RAW= 154.7, 11.6, CAL= 154.7, 12.9, ROT= 355.3, -12.9
2025-09-20T20:25:47.579Z,1758399947.579 [DAT](INFO): #Rx 108: Read range and direction messages.
2025-09-20T20:25:47.580Z,1758399947.580 [DAT](INFO): direction in FSK: [0.971483,-0.079871,0.223250]
2025-09-20T20:25:47.581Z,1758399947.581 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:47.596Z,1758399947.596 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.043259
2025-09-20T20:25:47.709Z,1758399947.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 8.300000 m,
deltaT: 0.498598 s,
deltaX: -0.099999 m,
approachRate: -0.200561 m/s,
rangeRepo size: 4
2025-09-20T20:25:47.718Z,1758399947.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 8.264565 m,
bearing: 98.766080 deg,
lat: 36.779297 deg,
lon: -121.859539 deg,
deltaT: 3.282900 s,
deltaX: -1.592190 m,
approachRate: -0.484995 m/s,
posRepo size: 4
2025-09-20T20:25:47.724Z,1758399947.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.26 m. 9.86 m.
2025-09-20T20:25:47.732Z,1758399947.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 8.218365 m,
bearing: 98.211559 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.388324 deg,
new cmd heading: 100.371440 deg.
2025-09-20T20:25:47.734Z,1758399947.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.751812 target range: 9.856755 and range: 8.30 m.
2025-09-20T20:25:47.744Z,1758399947.744 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.191006
2025-09-20T20:25:48.000Z,1758399948.000 [DAT](INFO): DAT read: Rx Time:20:25:50.4577
2025-09-20T20:25:48.002Z,1758399948.002 [DAT](INFO): Rx dataTimestamp_ set to:1758399948.000700
2025-09-20T20:25:48.005Z,1758399948.005 [DAT](INFO): DAT read: Bearing 277.1, -4.9 (Local)
2025-09-20T20:25:48.006Z,1758399948.006 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.1, -4.9 (Local)
2025-09-20T20:25:48.010Z,1758399948.010 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.4
2025-09-20T20:25:48.014Z,1758399948.014 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-09-20T20:25:48.018Z,1758399948.018 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.464252
2025-09-20T20:25:48.194Z,1758399948.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.800000 m,
deltaT: 0.503237 s,
deltaX: -0.500000 m,
approachRate: -0.993568 m/s,
rangeRepo size: 4
2025-09-20T20:25:48.244Z,1758399948.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:48.246Z,1758399948.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 7.987552 m,
bearing: 98.252923 deg,
approach rate: -0.466534 m/s,
LOS rate: 0.086024 deg/s,
cmd heading: 100.371440 deg,
new cmd heading: 100.456559 deg.
2025-09-20T20:25:48.252Z,1758399948.252 [DAT](INFO): DAT read: 20:25:50.4577 LVL= 19040, 29601, 19474, 28115, AGC= 48, IDX= 500, 0.16,-1.818, 2.868,-1.493,-1.877, PHS= 0.162,-1.493, 0.340, RAW= 155.1, 11.3, CAL= 155.1, 12.5, ROT= 354.9, -12.5
2025-09-20T20:25:48.253Z,1758399948.253 [DAT](INFO): got valid direction response:
20:25:50.4577 LVL= 19040, 29601, 19474, 28115, AGC= 48, IDX= 500, 0.16,-1.818, 2.868,-1.493,-1.877, PHS= 0.162,-1.493, 0.340, RAW= 155.1, 11.3, CAL= 155.1, 12.5, ROT= 354.9, -12.5
2025-09-20T20:25:48.253Z,1758399948.253 [DAT](INFO): #Rx 110: Read direction message, but no range.
2025-09-20T20:25:48.254Z,1758399948.254 [DAT](INFO): direction in FSK: [0.972431,-0.086787,0.216440]
2025-09-20T20:25:48.258Z,1758399948.258 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.704693
2025-09-20T20:25:48.259Z,1758399948.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.753298 target range: 9.856755 and range: 7.80 m.
2025-09-20T20:25:48.505Z,1758399948.505 [DAT](INFO): DAT read: Rx Time:20:25:50.9576
2025-09-20T20:25:48.508Z,1758399948.508 [DAT](INFO): Rx dataTimestamp_ set to:1758399948.505966
2025-09-20T20:25:48.511Z,1758399948.511 [DAT](INFO): DAT read: Bearing 277.8, -4.4 (Local)
2025-09-20T20:25:48.513Z,1758399948.513 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.8, -4.4 (Local)
2025-09-20T20:25:48.520Z,1758399948.520 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4
2025-09-20T20:25:48.522Z,1758399948.522 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-09-20T20:25:48.532Z,1758399948.532 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.973385
2025-09-20T20:25:48.762Z,1758399948.762 [DAT](INFO): DAT read: 20:25:50.9576 LVL= 17568, 27329, 17890, 26451, AGC= 47, IDX= 500,-0.33,-2.309, 2.394,-2.009,-2.358, PHS= 0.152,-1.486, 0.306, RAW= 154.5, 11.9, CAL= 154.5, 13.3, ROT= 355.5, -13.3
2025-09-20T20:25:48.764Z,1758399948.764 [DAT](INFO): got valid direction response:
20:25:50.9576 LVL= 17568, 27329, 17890, 26451, AGC= 47, IDX= 500,-0.33,-2.309, 2.394,-2.009,-2.358, PHS= 0.152,-1.486, 0.306, RAW= 154.5, 11.9, CAL= 154.5, 13.3, ROT= 355.5, -13.3
2025-09-20T20:25:48.764Z,1758399948.764 [DAT](INFO): #Rx 112: Read direction message, but no range.
2025-09-20T20:25:48.766Z,1758399948.766 [DAT](INFO): direction in FSK: [0.970179,-0.076355,0.230050]
2025-09-20T20:25:48.773Z,1758399948.773 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.217762
2025-09-20T20:25:48.799Z,1758399948.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.700000 m,
deltaT: 0.505266 s,
deltaX: -0.100000 m,
approachRate: -0.197916 m/s,
rangeRepo size: 4
2025-09-20T20:25:48.805Z,1758399948.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.667457 m,
bearing: 98.873859 deg,
lat: 36.779297 deg,
lon: -121.859539 deg,
deltaT: 4.291403 s,
deltaX: -2.189299 m,
approachRate: -0.510159 m/s,
posRepo size: 4
2025-09-20T20:25:48.806Z,1758399948.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.67 m. 9.86 m.
2025-09-20T20:25:48.810Z,1758399948.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 7.687658 m,
bearing: 98.348546 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.456558 deg,
new cmd heading: 100.436549 deg.
2025-09-20T20:25:48.819Z,1758399948.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752949 target range: 9.856755 and range: 7.70 m.
2025-09-20T20:25:49.010Z,1758399949.010 [DAT](INFO): DAT read: Rx Time:20:25:51.4574
2025-09-20T20:25:49.013Z,1758399949.013 [DAT](INFO): Rx dataTimestamp_ set to:1758399949.012625
2025-09-20T20:25:49.017Z,1758399949.017 [DAT](INFO): DAT read: Bearing 278.0, -4.4 (Local)
2025-09-20T20:25:49.018Z,1758399949.018 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.0, -4.4 (Local)
2025-09-20T20:25:49.063Z,1758399949.063 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.4
2025-09-20T20:25:49.072Z,1758399949.072 [DAT](INFO): DAT read: 20:25:51.4574 LVL= 20800, 28241, 19858, 30355, AGC= 48, IDX= 497, 0.02,-2.331, 2.347,-2.030,-2.380, PHS= 0.151,-1.511, 0.306, RAW= 154.4, 12.1, CAL= 154.5, 13.4, ROT= 355.5, -13.4
2025-09-20T20:25:49.073Z,1758399949.073 [DAT](INFO): got valid direction response:
20:25:51.4574 LVL= 20800, 28241, 19858, 30355, AGC= 48, IDX= 497, 0.02,-2.331, 2.347,-2.030,-2.380, PHS= 0.151,-1.511, 0.306, RAW= 154.4, 12.1, CAL= 154.5, 13.4, ROT= 355.5, -13.4
2025-09-20T20:25:49.073Z,1758399949.073 [DAT](INFO): #Rx 113: Read range and direction messages.
2025-09-20T20:25:49.074Z,1758399949.074 [DAT](INFO): direction in FSK: [0.969777,-0.076323,0.231748]
2025-09-20T20:25:49.074Z,1758399949.074 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:49.082Z,1758399949.082 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.529011
2025-09-20T20:25:49.143Z,1758399949.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.400000 m,
deltaT: 0.506659 s,
deltaX: -0.300000 m,
approachRate: -0.592114 m/s,
rangeRepo size: 4
2025-09-20T20:25:49.145Z,1758399949.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 7.368725 m,
bearing: 98.822873 deg,
lat: 36.779297 deg,
lon: -121.859540 deg,
deltaT: 4.798062 s,
deltaX: -2.488030 m,
approachRate: -0.518549 m/s,
posRepo size: 4
2025-09-20T20:25:49.146Z,1758399949.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.37 m. 9.86 m.
2025-09-20T20:25:49.180Z,1758399949.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 7.492421 m,
bearing: 98.416388 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.436552 deg,
new cmd heading: 100.425548 deg.
2025-09-20T20:25:49.192Z,1758399949.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.752756 target range: 9.856755 and range: 7.40 m.
2025-09-20T20:25:49.256Z,1758399949.256 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.703007
2025-09-20T20:25:49.511Z,1758399949.511 [DAT](INFO): DAT read: Rx Time:20:25:51.9573
2025-09-20T20:25:49.513Z,1758399949.513 [DAT](INFO): Rx dataTimestamp_ set to:1758399949.511748
2025-09-20T20:25:49.521Z,1758399949.521 [DAT](INFO): DAT read: Bearing 283.2, -5.1 (Local)
2025-09-20T20:25:49.522Z,1758399949.522 [DAT](INFO): Local bearing/azimuth received:
Bearing 283.2, -5.1 (Local)
2025-09-20T20:25:49.533Z,1758399949.533 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4
2025-09-20T20:25:49.549Z,1758399949.549 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-09-20T20:25:49.564Z,1758399949.564 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.010479
2025-09-20T20:25:49.666Z,1758399949.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:49.669Z,1758399949.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 7.200000 m,
deltaT: 0.499123 s,
deltaX: -0.200000 m,
approachRate: -0.400703 m/s,
rangeRepo size: 4
2025-09-20T20:25:49.670Z,1758399949.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:49.673Z,1758399949.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 7.205534 m,
bearing: 98.529445 deg,
approach rate: -0.532823 m/s,
LOS rate: 0.218337 deg/s,
cmd heading: 100.425549 deg,
new cmd heading: 100.660664 deg.
2025-09-20T20:25:49.674Z,1758399949.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756860 target range: 9.856755 and range: 7.20 m.
2025-09-20T20:25:49.767Z,1758399949.767 [DAT](INFO): DAT read: 20:25:51.9573 LVL= 23440, 31793, 19186, 32755, AGC= 47, IDX= 512, 0.40,-0.216,-1.714, 0.073,-0.136, PHS= 0.022,-1.533, 0.165, RAW= 154.4, 16.3, CAL= 155.1, 18.6, ROT= 354.9, -18.6
2025-09-20T20:25:49.769Z,1758399949.769 [DAT](INFO): got valid direction response:
20:25:51.9573 LVL= 23440, 31793, 19186, 32755, AGC= 47, IDX= 512, 0.40,-0.216,-1.714, 0.073,-0.136, PHS= 0.022,-1.533, 0.165, RAW= 154.4, 16.3, CAL= 155.1, 18.6, ROT= 354.9, -18.6
2025-09-20T20:25:49.769Z,1758399949.769 [DAT](INFO): #Rx 115: Read direction message, but no range.
2025-09-20T20:25:49.771Z,1758399949.771 [DAT](INFO): direction in FSK: [0.944016,-0.084251,0.318959]
2025-09-20T20:25:49.778Z,1758399949.778 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.225029
2025-09-20T20:25:50.016Z,1758399950.016 [DAT](INFO): DAT read: Rx Time:20:25:52.4571
2025-09-20T20:25:50.017Z,1758399950.017 [DAT](INFO): Rx dataTimestamp_ set to:1758399950.016228
2025-09-20T20:25:50.021Z,1758399950.021 [DAT](INFO): DAT read: Bearing 279.0, -3.3 (Local)
2025-09-20T20:25:50.022Z,1758399950.022 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.0, -3.3 (Local)
2025-09-20T20:25:50.032Z,1758399950.032 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.4
2025-09-20T20:25:50.034Z,1758399950.034 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-09-20T20:25:50.041Z,1758399950.041 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.487747
2025-09-20T20:25:50.121Z,1758399950.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.900000 m,
deltaT: 0.504480 s,
deltaX: -0.300000 m,
approachRate: -0.594671 m/s,
rangeRepo size: 4
2025-09-20T20:25:50.127Z,1758399950.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.870950 m,
bearing: 98.217639 deg,
lat: 36.779297 deg,
lon: -121.859540 deg,
deltaT: 5.801665 s,
deltaX: -2.985805 m,
approachRate: -0.514646 m/s,
posRepo size: 4
2025-09-20T20:25:50.128Z,1758399950.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.87 m. 9.86 m.
2025-09-20T20:25:50.136Z,1758399950.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 6.984406 m,
bearing: 98.624525 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.660664 deg,
new cmd heading: 100.645706 deg.
2025-09-20T20:25:50.138Z,1758399950.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756599 target range: 9.856755 and range: 6.90 m.
2025-09-20T20:25:50.268Z,1758399950.268 [DAT](INFO): DAT read: 20:25:52.4571 LVL= 19696, 27505, 17298, 29491, AGC= 47, IDX= 510,-0.11, 2.754, 1.133, 3.004, 2.706, PHS= 0.149,-1.528, 0.253, RAW= 153.0, 12.9, CAL= 153.1, 14.4, ROT= 356.9, -14.4
2025-09-20T20:25:50.269Z,1758399950.269 [DAT](INFO): got valid direction response:
20:25:52.4571 LVL= 19696, 27505, 17298, 29491, AGC= 47, IDX= 510,-0.11, 2.754, 1.133, 3.004, 2.706, PHS= 0.149,-1.528, 0.253, RAW= 153.0, 12.9, CAL= 153.1, 14.4, ROT= 356.9, -14.4
2025-09-20T20:25:50.269Z,1758399950.269 [DAT](INFO): #Rx 117: Read direction message, but no range.
2025-09-20T20:25:50.270Z,1758399950.270 [DAT](INFO): direction in FSK: [0.967166,-0.052380,0.248690]
2025-09-20T20:25:50.281Z,1758399950.281 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.727901
2025-09-20T20:25:50.521Z,1758399950.521 [DAT](INFO): DAT read: Rx Time:20:25:52.9570
2025-09-20T20:25:50.522Z,1758399950.522 [DAT](INFO): Rx dataTimestamp_ set to:1758399950.521362
2025-09-20T20:25:50.527Z,1758399950.527 [DAT](INFO): DAT read: Bearing 278.9, -3.2 (Local)
2025-09-20T20:25:50.528Z,1758399950.528 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.9, -3.2 (Local)
2025-09-20T20:25:50.535Z,1758399950.535 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4
2025-09-20T20:25:50.537Z,1758399950.537 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-09-20T20:25:50.540Z,1758399950.540 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=55.987038
2025-09-20T20:25:50.756Z,1758399950.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.800000 m,
deltaT: 0.505134 s,
deltaX: -0.100000 m,
approachRate: -0.197967 m/s,
rangeRepo size: 4
2025-09-20T20:25:50.764Z,1758399950.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.771441 m,
bearing: 100.038205 deg,
lat: 36.779297 deg,
lon: -121.859539 deg,
deltaT: 6.306799 s,
deltaX: -3.085315 m,
approachRate: -0.489205 m/s,
posRepo size: 4
2025-09-20T20:25:50.765Z,1758399950.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.77 m. 9.86 m.
2025-09-20T20:25:50.783Z,1758399950.783 [DAT](INFO): DAT read: 20:25:52.9570 LVL= 20144, 28401, 18322, 29155, AGC= 47, IDX= 509, 0.19,-0.611,-2.261,-0.365,-0.663, PHS= 0.154,-1.553, 0.254, RAW= 152.8, 13.0, CAL= 153.0, 14.5, ROT= 357.0, -14.5
2025-09-20T20:25:50.785Z,1758399950.785 [DAT](INFO): got valid direction response:
20:25:52.9570 LVL= 20144, 28401, 18322, 29155, AGC= 47, IDX= 509, 0.19,-0.611,-2.261,-0.365,-0.663, PHS= 0.154,-1.553, 0.254, RAW= 152.8, 13.0, CAL= 153.0, 14.5, ROT= 357.0, -14.5
2025-09-20T20:25:50.785Z,1758399950.785 [DAT](INFO): #Rx 119: Read direction message, but no range.
2025-09-20T20:25:50.787Z,1758399950.787 [DAT](INFO): direction in FSK: [0.966821,-0.050669,0.250380]
2025-09-20T20:25:50.791Z,1758399950.791 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.237381
2025-09-20T20:25:50.793Z,1758399950.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 6.640985 m,
bearing: 98.813030 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.645706 deg,
new cmd heading: 100.624713 deg.
2025-09-20T20:25:50.794Z,1758399950.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.756233 target range: 9.856755 and range: 6.80 m.
2025-09-20T20:25:51.024Z,1758399951.024 [DAT](INFO): DAT read: Rx Time:20:25:53.4567
2025-09-20T20:25:51.026Z,1758399951.026 [DAT](INFO): Rx dataTimestamp_ set to:1758399951.024862
2025-09-20T20:25:51.030Z,1758399951.030 [DAT](INFO): DAT read: Bearing 279.7, -2.1 (Local)
2025-09-20T20:25:51.031Z,1758399951.031 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.7, -2.1 (Local)
2025-09-20T20:25:51.059Z,1758399951.059 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4
2025-09-20T20:25:51.073Z,1758399951.073 [DAT](INFO): DAT read: 20:25:53.4567 LVL= 19936, 27553, 16546, 30499, AGC= 46, IDX= 507,-0.31, 2.693, 1.035, 2.893, 2.640, PHS= 0.155,-1.560, 0.209, RAW= 151.5, 13.6, CAL= 151.7, 15.2, ROT= 358.3, -15.2
2025-09-20T20:25:51.074Z,1758399951.074 [DAT](INFO): got valid direction response:
20:25:53.4567 LVL= 19936, 27553, 16546, 30499, AGC= 46, IDX= 507,-0.31, 2.693, 1.035, 2.893, 2.640, PHS= 0.155,-1.560, 0.209, RAW= 151.5, 13.6, CAL= 151.7, 15.2, ROT= 358.3, -15.2
2025-09-20T20:25:51.075Z,1758399951.075 [DAT](INFO): #Rx 120: Read range and direction messages.
2025-09-20T20:25:51.080Z,1758399951.080 [DAT](INFO): direction in FSK: [0.964592,-0.028629,0.262189]
2025-09-20T20:25:51.080Z,1758399951.080 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:51.103Z,1758399951.103 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:25:51.104Z,1758399951.104 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:25:51.104Z,1758399951.104 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:51.264Z,1758399951.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.300000 m,
deltaT: 0.503500 s,
deltaX: -0.500000 m,
approachRate: -0.993049 m/s,
rangeRepo size: 4
2025-09-20T20:25:51.266Z,1758399951.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.273588 m,
bearing: 101.415464 deg,
lat: 36.779297 deg,
lon: -121.859540 deg,
deltaT: 6.810299 s,
deltaX: -3.583168 m,
approachRate: -0.526140 m/s,
posRepo size: 4
2025-09-20T20:25:51.272Z,1758399951.272 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:51.280Z,1758399951.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.27 m. 9.86 m.
2025-09-20T20:25:51.282Z,1758399951.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 6.416961 m,
bearing: 98.948444 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.624710 deg,
new cmd heading: 100.608165 deg.
2025-09-20T20:25:51.287Z,1758399951.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755944 target range: 9.856755 and range: 6.30 m.
2025-09-20T20:25:51.529Z,1758399951.529 [DAT](INFO): DAT read: Rx Time:20:25:53.9566
2025-09-20T20:25:51.531Z,1758399951.531 [DAT](INFO): Rx dataTimestamp_ set to:1758399951.529873
2025-09-20T20:25:51.540Z,1758399951.540 [DAT](INFO): DAT read: Bearing 279.7, -2.3 (Local)
2025-09-20T20:25:51.541Z,1758399951.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.7, -2.3 (Local)
2025-09-20T20:25:51.543Z,1758399951.543 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.4
2025-09-20T20:25:51.565Z,1758399951.565 [DAT](INFO): DAT read: 20:25:53.9566 LVL= 18928, 26273, 17634, 29667, AGC= 46, IDX= 505, 0.01,-2.045, 2.550,-1.844,-2.100, PHS= 0.157,-1.588, 0.212, RAW= 151.5, 13.7, CAL= 151.7, 15.2, ROT= 358.3, -15.2
2025-09-20T20:25:51.567Z,1758399951.567 [DAT](INFO): got valid direction response:
20:25:53.9566 LVL= 18928, 26273, 17634, 29667, AGC= 46, IDX= 505, 0.01,-2.045, 2.550,-1.844,-2.100, PHS= 0.157,-1.588, 0.212, RAW= 151.5, 13.7, CAL= 151.7, 15.2, ROT= 358.3, -15.2
2025-09-20T20:25:51.571Z,1758399951.571 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:51.572Z,1758399951.572 [DAT](INFO): direction in FSK: [0.964592,-0.028629,0.262189]
2025-09-20T20:25:51.572Z,1758399951.572 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:51.600Z,1758399951.600 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:51.600Z,1758399951.600 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:51.750Z,1758399951.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 6.200000 m,
deltaT: 0.505011 s,
deltaX: -0.100000 m,
approachRate: -0.198016 m/s,
rangeRepo size: 4
2025-09-20T20:25:51.753Z,1758399951.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 6.174006 m,
bearing: 101.411441 deg,
lat: 36.779296 deg,
lon: -121.859540 deg,
deltaT: 7.315310 s,
deltaX: -3.682749 m,
approachRate: -0.503430 m/s,
posRepo size: 4
2025-09-20T20:25:51.754Z,1758399951.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.86 m.
2025-09-20T20:25:51.762Z,1758399951.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 6.134861 m,
bearing: 99.118193 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.608167 deg,
new cmd heading: 100.591780 deg.
2025-09-20T20:25:51.768Z,1758399951.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755658 target range: 9.856755 and range: 6.20 m.
2025-09-20T20:25:51.777Z,1758399951.777 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:52.033Z,1758399952.033 [DAT](INFO): DAT read: Rx Time:20:25:54.4563
2025-09-20T20:25:52.036Z,1758399952.036 [DAT](INFO): Rx dataTimestamp_ set to:1758399952.033974
2025-09-20T20:25:52.040Z,1758399952.040 [DAT](INFO): DAT read: Bearing 279.8, -2.4 (Local)
2025-09-20T20:25:52.040Z,1758399952.040 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.8, -2.4 (Local)
2025-09-20T20:25:52.042Z,1758399952.042 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed 0.4
2025-09-20T20:25:52.047Z,1758399952.047 [DAT](INFO): DAT read: 20:25:54.4563 LVL= 19328, 27201, 17826, 30963, AGC= 46, IDX= 502, 0.34,-2.434, 2.134,-2.233,-2.490, PHS= 0.158,-1.615, 0.213, RAW= 151.5, 13.7, CAL= 151.7, 15.3, ROT= 358.3, -15.3
2025-09-20T20:25:52.048Z,1758399952.048 [DAT](INFO): got valid direction response:
20:25:54.4563 LVL= 19328, 27201, 17826, 30963, AGC= 46, IDX= 502, 0.34,-2.434, 2.134,-2.233,-2.490, PHS= 0.158,-1.615, 0.213, RAW= 151.5, 13.7, CAL= 151.7, 15.3, ROT= 358.3, -15.3
2025-09-20T20:25:52.049Z,1758399952.049 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:52.050Z,1758399952.050 [DAT](INFO): direction in FSK: [0.964133,-0.028615,0.263873]
2025-09-20T20:25:52.050Z,1758399952.050 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:52.054Z,1758399952.054 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:52.054Z,1758399952.054 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:52.176Z,1758399952.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.900000 m,
deltaT: 0.504101 s,
deltaX: -0.300000 m,
approachRate: -0.595118 m/s,
rangeRepo size: 4
2025-09-20T20:25:52.178Z,1758399952.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.875265 m,
bearing: 101.414934 deg,
lat: 36.779296 deg,
lon: -121.859540 deg,
deltaT: 7.819411 s,
deltaX: -3.981491 m,
approachRate: -0.509180 m/s,
posRepo size: 4
2025-09-20T20:25:52.189Z,1758399952.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.88 m. 9.86 m.
2025-09-20T20:25:52.219Z,1758399952.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 5.915381 m,
bearing: 99.261487 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.591782 deg,
new cmd heading: 100.577685 deg.
2025-09-20T20:25:52.249Z,1758399952.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755412 target range: 9.856755 and range: 5.90 m.
2025-09-20T20:25:52.283Z,1758399952.283 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:52.537Z,1758399952.537 [DAT](INFO): DAT read: Rx Time:20:25:54.9562
2025-09-20T20:25:52.539Z,1758399952.539 [DAT](INFO): Rx dataTimestamp_ set to:1758399952.537872
2025-09-20T20:25:52.541Z,1758399952.541 [DAT](INFO): DAT read: Bearing 280.2, -2.1 (Local)
2025-09-20T20:25:52.541Z,1758399952.541 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.2, -2.1 (Local)
2025-09-20T20:25:52.554Z,1758399952.554 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.4
2025-09-20T20:25:52.575Z,1758399952.575 [DAT](INFO): DAT read: 20:25:54.9562 LVL= 21664, 26401, 19490, 30003, AGC= 46, IDX= 502,-0.18, 2.897, 1.157, 3.078, 2.844, PHS= 0.156,-1.642, 0.191, RAW= 151.0, 14.2, CAL= 151.2, 15.8, ROT= 358.8, -15.8
2025-09-20T20:25:52.576Z,1758399952.576 [DAT](INFO): got valid direction response:
20:25:54.9562 LVL= 21664, 26401, 19490, 30003, AGC= 46, IDX= 502,-0.18, 2.897, 1.157, 3.078, 2.844, PHS= 0.156,-1.642, 0.191, RAW= 151.0, 14.2, CAL= 151.2, 15.8, ROT= 358.8, -15.8
2025-09-20T20:25:52.576Z,1758399952.576 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:52.577Z,1758399952.577 [DAT](INFO): direction in FSK: [0.962007,-0.020151,0.272280]
2025-09-20T20:25:52.578Z,1758399952.578 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:52.597Z,1758399952.597 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:52.598Z,1758399952.598 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:52.702Z,1758399952.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.700000 m,
deltaT: 0.503898 s,
deltaX: -0.200000 m,
approachRate: -0.396906 m/s,
rangeRepo size: 4
2025-09-20T20:25:52.710Z,1758399952.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.676150 m,
bearing: 101.908924 deg,
lat: 36.779296 deg,
lon: -121.859539 deg,
deltaT: 8.323309 s,
deltaX: -4.180605 m,
approachRate: -0.502277 m/s,
posRepo size: 4
2025-09-20T20:25:52.720Z,1758399952.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.68 m. 9.86 m.
2025-09-20T20:25:52.725Z,1758399952.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 5.617007 m,
bearing: 99.494940 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 100.577684 deg,
new cmd heading: 100.560280 deg.
2025-09-20T20:25:52.726Z,1758399952.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.755108 target range: 9.856755 and range: 5.70 m.
2025-09-20T20:25:52.785Z,1758399952.785 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:53.032Z,1758399953.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:53.041Z,1758399953.041 [DAT](INFO): DAT read: Rx Time:20:25:55.4560
2025-09-20T20:25:53.041Z,1758399953.041 [DAT](INFO): Rx dataTimestamp_ set to:1758399953.040754
2025-09-20T20:25:53.042Z,1758399953.042 [DAT](INFO): DAT read: Bearing 279.8, -3.1 (Local)
2025-09-20T20:25:53.043Z,1758399953.043 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.8, -3.1 (Local)
2025-09-20T20:25:53.045Z,1758399953.045 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4
2025-09-20T20:25:53.049Z,1758399953.049 [DAT](INFO): DAT read: 20:25:55.4560 LVL= 22240, 28145, 19378, 31939, AGC= 45, IDX= 499, 0.10,-2.621, 1.904,-2.405,-2.674, PHS= 0.155,-1.660, 0.225, RAW= 151.9, 13.7, CAL= 152.1, 15.3, ROT= 357.9, -15.3
2025-09-20T20:25:53.050Z,1758399953.050 [DAT](INFO): got valid direction response:
20:25:55.4560 LVL= 22240, 28145, 19378, 31939, AGC= 45, IDX= 499, 0.10,-2.621, 1.904,-2.405,-2.674, PHS= 0.155,-1.660, 0.225, RAW= 151.9, 13.7, CAL= 152.1, 15.3, ROT= 357.9, -15.3
2025-09-20T20:25:53.051Z,1758399953.051 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:53.052Z,1758399953.052 [DAT](INFO): direction in FSK: [0.963910,-0.035345,0.263873]
2025-09-20T20:25:53.052Z,1758399953.052 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:53.067Z,1758399953.067 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:53.068Z,1758399953.068 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:53.073Z,1758399953.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.400000 m,
deltaT: 0.502882 s,
deltaX: -0.300000 m,
approachRate: -0.596561 m/s,
rangeRepo size: 4
2025-09-20T20:25:53.074Z,1758399953.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:53.081Z,1758399953.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 5.447507 m,
bearing: 99.638480 deg,
approach rate: -0.455144 m/s,
LOS rate: 0.397430 deg/s,
cmd heading: 100.560281 deg,
new cmd heading: 100.856291 deg.
2025-09-20T20:25:53.082Z,1758399953.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.760274 target range: 9.856755 and range: 5.40 m.
2025-09-20T20:25:53.288Z,1758399953.288 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:53.475Z,1758399953.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:53.477Z,1758399953.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 5.187655 m,
bearing: 99.880752 deg,
approach rate: -0.647143 m/s,
LOS rate: 0.633581 deg/s,
cmd heading: 100.856294 deg,
new cmd heading: 101.365093 deg.
2025-09-20T20:25:53.478Z,1758399953.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.769155 target range: 9.856755 and range: 5.40 m.
2025-09-20T20:25:53.542Z,1758399953.542 [DAT](INFO): DAT read: Rx Time:20:25:55.9559
2025-09-20T20:25:53.542Z,1758399953.542 [DAT](INFO): Rx dataTimestamp_ set to:1758399953.541837
2025-09-20T20:25:53.544Z,1758399953.544 [DAT](INFO): DAT read: Bearing 279.6, -4.1 (Local)
2025-09-20T20:25:53.544Z,1758399953.544 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.6, -4.1 (Local)
2025-09-20T20:25:53.546Z,1758399953.546 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed 0.4
2025-09-20T20:25:53.551Z,1758399953.551 [DAT](INFO): DAT read: 20:25:55.9559 LVL= 25152, 29217, 21490, 32755, AGC= 45, IDX= 498, 0.49,-1.782, 2.733,-1.532,-1.827, PHS= 0.147,-1.678, 0.251, RAW= 152.8, 13.5, CAL= 153.0, 15.2, ROT= 357.0, -15.2
2025-09-20T20:25:53.552Z,1758399953.552 [DAT](INFO): got valid direction response:
20:25:55.9559 LVL= 25152, 29217, 21490, 32755, AGC= 45, IDX= 498, 0.49,-1.782, 2.733,-1.532,-1.827, PHS= 0.147,-1.678, 0.251, RAW= 152.8, 13.5, CAL= 153.0, 15.2, ROT= 357.0, -15.2
2025-09-20T20:25:53.553Z,1758399953.553 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:53.554Z,1758399953.554 [DAT](INFO): direction in FSK: [0.963694,-0.050505,0.262189]
2025-09-20T20:25:53.554Z,1758399953.554 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:53.557Z,1758399953.557 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:53.558Z,1758399953.558 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:53.792Z,1758399953.792 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:53.909Z,1758399953.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.300000 m,
deltaT: 0.501083 s,
deltaX: -0.100000 m,
approachRate: -0.199568 m/s,
rangeRepo size: 4
2025-09-20T20:25:53.916Z,1758399953.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 5.277846 m,
bearing: 100.095485 deg,
lat: 36.779296 deg,
lon: -121.859539 deg,
deltaT: 9.327274 s,
deltaX: -4.578909 m,
approachRate: -0.490916 m/s,
posRepo size: 4
2025-09-20T20:25:53.917Z,1758399953.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.28 m. 9.86 m.
2025-09-20T20:25:53.924Z,1758399953.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 4.959662 m,
bearing: 100.114055 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 101.365096 deg,
new cmd heading: 101.350713 deg.
2025-09-20T20:25:53.925Z,1758399953.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768904 target range: 9.856755 and range: 5.30 m.
2025-09-20T20:25:54.048Z,1758399954.048 [DAT](INFO): DAT read: Rx Time:20:25:56.4557
2025-09-20T20:25:54.049Z,1758399954.049 [DAT](INFO): Rx dataTimestamp_ set to:1758399954.048765
2025-09-20T20:25:54.051Z,1758399954.051 [DAT](INFO): DAT read: Bearing 279.8, -5.6 (Local)
2025-09-20T20:25:54.052Z,1758399954.052 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.8, -5.6 (Local)
2025-09-20T20:25:54.054Z,1758399954.054 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4
2025-09-20T20:25:54.064Z,1758399954.064 [DAT](INFO): DAT read: 20:25:56.4557 LVL= 24352, 27281, 18642, 29843, AGC= 44, IDX= 496,-0.09, 1.539,-0.208, 1.840, 1.526, PHS= 0.115,-1.688, 0.271, RAW= 154.1, 13.7, CAL= 154.4, 15.4, ROT= 355.6, -15.4
2025-09-20T20:25:54.065Z,1758399954.065 [DAT](INFO): got valid direction response:
20:25:56.4557 LVL= 24352, 27281, 18642, 29843, AGC= 44, IDX= 496,-0.09, 1.539,-0.208, 1.840, 1.526, PHS= 0.115,-1.688, 0.271, RAW= 154.1, 13.7, CAL= 154.4, 15.4, ROT= 355.6, -15.4
2025-09-20T20:25:54.066Z,1758399954.066 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:54.080Z,1758399954.080 [DAT](INFO): direction in FSK: [0.961254,-0.073964,0.265556]
2025-09-20T20:25:54.081Z,1758399954.081 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:54.086Z,1758399954.086 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:54.086Z,1758399954.086 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:54.300Z,1758399954.300 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:54.380Z,1758399954.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 5.000000 m,
deltaT: 0.506928 s,
deltaX: -0.300000 m,
approachRate: -0.591800 m/s,
rangeRepo size: 4
2025-09-20T20:25:54.382Z,1758399954.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.979123 m,
bearing: 98.709911 deg,
lat: 36.779296 deg,
lon: -121.859537 deg,
deltaT: 9.834202 s,
deltaX: -4.877633 m,
approachRate: -0.495987 m/s,
posRepo size: 4
2025-09-20T20:25:54.387Z,1758399954.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.98 m. 9.86 m.
2025-09-20T20:25:54.390Z,1758399954.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 4.705503 m,
bearing: 100.395209 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 101.350711 deg,
new cmd heading: 101.335409 deg.
2025-09-20T20:25:54.391Z,1758399954.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768637 target range: 9.856755 and range: 5.00 m.
2025-09-20T20:25:54.553Z,1758399954.553 [DAT](INFO): DAT read: Rx Time:20:25:56.9556
2025-09-20T20:25:54.553Z,1758399954.553 [DAT](INFO): Rx dataTimestamp_ set to:1758399954.552979
2025-09-20T20:25:54.555Z,1758399954.555 [DAT](INFO): DAT read: Bearing 279.1, -7.5 (Local)
2025-09-20T20:25:54.555Z,1758399954.555 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.1, -7.5 (Local)
2025-09-20T20:25:54.557Z,1758399954.557 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4
2025-09-20T20:25:54.562Z,1758399954.562 [DAT](INFO): DAT read: 20:25:56.9556 LVL= 26032, 27857, 19442, 32019, AGC= 44, IDX= 511, 0.22,-2.299, 2.260,-1.927,-2.300, PHS= 0.103,-1.679, 0.328, RAW= 155.9, 13.0, CAL= 156.2, 14.7, ROT= 353.8, -14.7
2025-09-20T20:25:54.563Z,1758399954.563 [DAT](INFO): got valid direction response:
20:25:56.9556 LVL= 26032, 27857, 19442, 32019, AGC= 44, IDX= 511, 0.22,-2.299, 2.260,-1.927,-2.300, PHS= 0.103,-1.679, 0.328, RAW= 155.9, 13.0, CAL= 156.2, 14.7, ROT= 353.8, -14.7
2025-09-20T20:25:54.563Z,1758399954.563 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:54.564Z,1758399954.564 [DAT](INFO): direction in FSK: [0.961610,-0.104464,0.253758]
2025-09-20T20:25:54.564Z,1758399954.564 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:54.568Z,1758399954.568 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:54.568Z,1758399954.568 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:54.768Z,1758399954.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.800000 m,
deltaT: 0.504214 s,
deltaX: -0.200000 m,
approachRate: -0.396657 m/s,
rangeRepo size: 4
2025-09-20T20:25:54.775Z,1758399954.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.779958 m,
bearing: 96.915957 deg,
lat: 36.779297 deg,
lon: -121.859535 deg,
deltaT: 10.338416 s,
deltaX: -5.076797 m,
approachRate: -0.491061 m/s,
posRepo size: 4
2025-09-20T20:25:54.777Z,1758399954.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.78 m. 9.86 m.
2025-09-20T20:25:54.785Z,1758399954.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 4.497126 m,
bearing: 100.648620 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 101.335412 deg,
new cmd heading: 101.322501 deg.
2025-09-20T20:25:54.786Z,1758399954.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768411 target range: 9.856755 and range: 4.80 m.
2025-09-20T20:25:54.804Z,1758399954.804 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:55.057Z,1758399955.057 [DAT](INFO): DAT read: Rx Time:20:25:57.4554
2025-09-20T20:25:55.057Z,1758399955.057 [DAT](INFO): Rx dataTimestamp_ set to:1758399955.056736
2025-09-20T20:25:55.058Z,1758399955.058 [DAT](INFO): DAT read: Bearing 280.6, -10.3 (Local)
2025-09-20T20:25:55.059Z,1758399955.059 [DAT](INFO): Local bearing/azimuth received:
Bearing 280.6, -10.3 (Local)
2025-09-20T20:25:55.061Z,1758399955.061 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4
2025-09-20T20:25:55.065Z,1758399955.065 [DAT](INFO): DAT read: 20:25:57.4554 LVL= 21904, 21489, 16674, 32755, AGC= 42, IDX= 509,-0.30, 0.485,-1.112, 0.938, 0.569, PHS= 0.017,-1.636, 0.325, RAW= 158.4, 14.1, CAL= 159.0, 16.1, ROT= 351.0, -16.1
2025-09-20T20:25:55.066Z,1758399955.066 [DAT](INFO): got valid direction response:
20:25:57.4554 LVL= 21904, 21489, 16674, 32755, AGC= 42, IDX= 509,-0.30, 0.485,-1.112, 0.938, 0.569, PHS= 0.017,-1.636, 0.325, RAW= 158.4, 14.1, CAL= 159.0, 16.1, ROT= 351.0, -16.1
2025-09-20T20:25:55.067Z,1758399955.067 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:55.068Z,1758399955.068 [DAT](INFO): direction in FSK: [0.948950,-0.150299,0.277315]
2025-09-20T20:25:55.068Z,1758399955.068 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:55.076Z,1758399955.076 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:55.076Z,1758399955.076 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:55.158Z,1758399955.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.500000 m,
deltaT: 0.503757 s,
deltaX: -0.300000 m,
approachRate: -0.595526 m/s,
rangeRepo size: 4
2025-09-20T20:25:55.169Z,1758399955.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.481210 m,
bearing: 94.163234 deg,
lat: 36.779298 deg,
lon: -121.859535 deg,
deltaT: 10.842173 s,
deltaX: -5.375545 m,
approachRate: -0.495800 m/s,
posRepo size: 4
2025-09-20T20:25:55.170Z,1758399955.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.48 m. 9.86 m.
2025-09-20T20:25:55.190Z,1758399955.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 4.275432 m,
bearing: 100.945898 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 101.322503 deg,
new cmd heading: 101.309370 deg.
2025-09-20T20:25:55.196Z,1758399955.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.768182 target range: 9.856755 and range: 4.50 m.
2025-09-20T20:25:55.308Z,1758399955.308 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:55.561Z,1758399955.561 [DAT](INFO): DAT read: Rx Time:20:25:57.9552
2025-09-20T20:25:55.561Z,1758399955.561 [DAT](INFO): Rx dataTimestamp_ set to:1758399955.560814
2025-09-20T20:25:55.564Z,1758399955.564 [DAT](INFO): DAT read: Bearing 279.9, -10.2 (Local)
2025-09-20T20:25:55.566Z,1758399955.566 [DAT](INFO): Local bearing/azimuth received:
Bearing 279.9, -10.2 (Local)
2025-09-20T20:25:55.569Z,1758399955.569 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.4
2025-09-20T20:25:55.574Z,1758399955.574 [DAT](INFO): DAT read: 20:25:57.9552 LVL= 21408, 22193, 15346, 30963, AGC= 42, IDX= 507, 0.06, 2.099, 0.508, 2.549, 2.164, PHS= 0.037,-1.611, 0.341, RAW= 158.3, 13.5, CAL= 158.9, 15.4, ROT= 351.1, -15.4
2025-09-20T20:25:55.603Z,1758399955.603 [DAT](INFO): got valid direction response:
20:25:57.9552 LVL= 21408, 22193, 15346, 30963, AGC= 42, IDX= 507, 0.06, 2.099, 0.508, 2.549, 2.164, PHS= 0.037,-1.611, 0.341, RAW= 158.3, 13.5, CAL= 158.9, 15.4, ROT= 351.1, -15.4
2025-09-20T20:25:55.604Z,1758399955.604 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:55.605Z,1758399955.605 [DAT](INFO): direction in FSK: [0.952488,-0.149156,0.265556]
2025-09-20T20:25:55.605Z,1758399955.605 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:55.620Z,1758399955.620 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:55.621Z,1758399955.621 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:55.662Z,1758399955.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 4.200000 m,
deltaT: 0.504078 s,
deltaX: -0.300000 m,
approachRate: -0.595146 m/s,
rangeRepo size: 4
2025-09-20T20:25:55.673Z,1758399955.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 4.182478 m,
bearing: 94.207618 deg,
lat: 36.779300 deg,
lon: -121.859535 deg,
deltaT: 11.346251 s,
deltaX: -5.674277 m,
approachRate: -0.500101 m/s,
posRepo size: 4
2025-09-20T20:25:55.674Z,1758399955.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.86 m.
2025-09-20T20:25:55.680Z,1758399955.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 4.002512 m,
bearing: 101.353171 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 101.309368 deg,
new cmd heading: 101.292666 deg.
2025-09-20T20:25:55.681Z,1758399955.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767891 target range: 9.856755 and range: 4.20 m.
2025-09-20T20:25:55.812Z,1758399955.812 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:56.065Z,1758399956.065 [DAT](INFO): DAT read: Rx Time:20:25:58.4550
2025-09-20T20:25:56.065Z,1758399956.065 [DAT](INFO): Rx dataTimestamp_ set to:1758399956.064906
2025-09-20T20:25:56.066Z,1758399956.066 [DAT](INFO): DAT read: Bearing 277.9, -6.4 (Local)
2025-09-20T20:25:56.075Z,1758399956.075 [DAT](INFO): Local bearing/azimuth received:
Bearing 277.9, -6.4 (Local)
2025-09-20T20:25:56.077Z,1758399956.077 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed 0.4
2025-09-20T20:25:56.082Z,1758399956.082 [DAT](INFO): DAT read: 20:25:58.4550 LVL= 17488, 27761, 18114, 31571, AGC= 42, IDX= 504, 0.39, 1.630,-0.028, 1.945, 1.580, PHS= 0.151,-1.563, 0.321, RAW= 154.7, 12.1, CAL= 154.8, 13.4, ROT= 355.2, -13.4
2025-09-20T20:25:56.083Z,1758399956.083 [DAT](INFO): got valid direction response:
20:25:58.4550 LVL= 17488, 27761, 18114, 31571, AGC= 42, IDX= 504, 0.39, 1.630,-0.028, 1.945, 1.580, PHS= 0.151,-1.563, 0.321, RAW= 154.7, 12.1, CAL= 154.8, 13.4, ROT= 355.2, -13.4
2025-09-20T20:25:56.083Z,1758399956.083 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:56.084Z,1758399956.084 [DAT](INFO): direction in FSK: [0.969364,-0.081400,0.231748]
2025-09-20T20:25:56.084Z,1758399956.084 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:56.108Z,1758399956.108 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:56.108Z,1758399956.108 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:56.133Z,1758399956.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.900000 m,
deltaT: 0.504092 s,
deltaX: -0.300000 m,
approachRate: -0.595129 m/s,
rangeRepo size: 4
2025-09-20T20:25:56.140Z,1758399956.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.883730 m,
bearing: 98.204569 deg,
lat: 36.779300 deg,
lon: -121.859535 deg,
deltaT: 11.850343 s,
deltaX: -5.973025 m,
approachRate: -0.504038 m/s,
posRepo size: 4
2025-09-20T20:25:56.141Z,1758399956.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.88 m. 9.86 m.
2025-09-20T20:25:56.147Z,1758399956.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 3.772867 m,
bearing: 101.743864 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 101.292668 deg,
new cmd heading: 101.277072 deg.
2025-09-20T20:25:56.148Z,1758399956.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.767618 target range: 9.856755 and range: 3.90 m.
2025-09-20T20:25:56.316Z,1758399956.316 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:56.564Z,1758399956.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:56.566Z,1758399956.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:56.577Z,1758399956.577 [DAT](INFO): DAT read: Rx Time:20:25:58.9548
2025-09-20T20:25:56.577Z,1758399956.577 [DAT](INFO): Rx dataTimestamp_ set to:1758399956.576775
2025-09-20T20:25:56.578Z,1758399956.578 [DAT](INFO): DAT read: Bearing 278.2, 1.2 (Local)
2025-09-20T20:25:56.579Z,1758399956.579 [DAT](INFO): Local bearing/azimuth received:
Bearing 278.2, 1.2 (Local)
2025-09-20T20:25:56.581Z,1758399956.581 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.4
2025-09-20T20:25:56.585Z,1758399956.585 [DAT](INFO): DAT read: 20:25:58.9548 LVL= 18864, 31329, 22290, 29987, AGC= 43, IDX= 504,-0.12, 1.955, 0.083, 1.991, 1.766, PHS= 0.291,-1.637, 0.181, RAW= 147.1, 12.4, CAL= 146.8, 13.6, ROT= 3.2, -13.6
2025-09-20T20:25:56.586Z,1758399956.586 [DAT](INFO): got valid direction response:
20:25:58.9548 LVL= 18864, 31329, 22290, 29987, AGC= 43, IDX= 504,-0.12, 1.955, 0.083, 1.991, 1.766, PHS= 0.291,-1.637, 0.181, RAW= 147.1, 12.4, CAL= 146.8, 13.6, ROT= 3.2, -13.6
2025-09-20T20:25:56.587Z,1758399956.587 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:56.588Z,1758399956.588 [DAT](INFO): direction in FSK: [0.970445,0.054256,0.235142]
2025-09-20T20:25:56.588Z,1758399956.588 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:56.593Z,1758399956.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 3.516814 m,
bearing: 102.211004 deg,
approach rate: -0.590770 m/s,
LOS rate: 1.156253 deg/s,
cmd heading: 101.277068 deg,
new cmd heading: 102.279259 deg.
2025-09-20T20:25:56.594Z,1758399956.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.785110 target range: 9.856755 and range: 3.90 m.
2025-09-20T20:25:56.596Z,1758399956.596 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:56.596Z,1758399956.596 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-09-20T20:25:56.828Z,1758399956.828 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:56.937Z,1758399956.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.600000 m,
deltaT: 0.511869 s,
deltaX: -0.300000 m,
approachRate: -0.586088 m/s,
rangeRepo size: 4
2025-09-20T20:25:56.939Z,1758399956.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.584993 m,
bearing: 106.135866 deg,
lat: 36.779300 deg,
lon: -121.859535 deg,
deltaT: 12.362212 s,
deltaX: -6.271762 m,
approachRate: -0.507333 m/s,
posRepo size: 4
2025-09-20T20:25:56.940Z,1758399956.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.58 m. 9.86 m.
2025-09-20T20:25:56.942Z,1758399956.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 3.327443 m,
bearing: 102.602595 deg,
approach rate: 0.000000 m/s,
LOS rate: -0.016556 deg/s,
cmd heading: 102.279262 deg,
new cmd heading: 102.267016 deg.
2025-09-20T20:25:56.944Z,1758399956.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.784896 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:57.081Z,1758399957.081 [DAT](INFO): DAT read: user:256>
2025-09-20T20:25:57.082Z,1758399957.082 [DAT](INFO): DAT read: 0
2025-09-20T20:25:57.082Z,1758399957.082 [DAT](INFO): unknown deviceResponse_: 0
2025-09-20T20:25:57.083Z,1758399957.083 [DAT](INFO): DAT read: Ok
2025-09-20T20:25:57.083Z,1758399957.083 [DAT](INFO): unknown deviceResponse_: Ok
2025-09-20T20:25:57.084Z,1758399957.084 [DAT](INFO): DAT read: user:257>
2025-09-20T20:25:57.085Z,1758399957.085 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:25:57.336Z,1758399957.336 [DAT](INFO): DAT read: Tx time:20:25:59.9497
2025-09-20T20:25:57.337Z,1758399957.337 [DAT](INFO): Ping request sent.
2025-09-20T20:25:57.337Z,1758399957.337 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:25:57.337Z,1758399957.337 [DAT](INFO): publishing transmit ping time
2025-09-20T20:25:57.338Z,1758399957.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-09-20T20:25:57.417Z,1758399957.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:57.420Z,1758399957.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 3.072648 m,
bearing: 103.188797 deg,
approach rate: -0.530352 m/s,
LOS rate: 1.321329 deg/s,
cmd heading: 102.267015 deg,
new cmd heading: 103.536409 deg.
2025-09-20T20:25:57.420Z,1758399957.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.807051 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:57.587Z,1758399957.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249912
2025-09-20T20:25:57.759Z,1758399957.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:57.764Z,1758399957.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 2.894301 m,
bearing: 103.661101 deg,
approach rate: -0.521526 m/s,
LOS rate: 1.466212 deg/s,
cmd heading: 103.536406 deg,
new cmd heading: 104.539108 deg.
2025-09-20T20:25:57.765Z,1758399957.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.824552 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:57.837Z,1758399957.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500079
2025-09-20T20:25:58.088Z,1758399958.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751036
2025-09-20T20:25:58.168Z,1758399958.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:58.170Z,1758399958.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 2.684623 m,
bearing: 104.297517 deg,
approach rate: -0.512518 m/s,
LOS rate: 1.677060 deg/s,
cmd heading: 104.539105 deg,
new cmd heading: 105.911060 deg.
2025-09-20T20:25:58.172Z,1758399958.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.848497 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:58.346Z,1758399958.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008883
2025-09-20T20:25:58.561Z,1758399958.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:58.564Z,1758399958.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 2.476388 m,
bearing: 104.983779 deg,
approach rate: -0.529907 m/s,
LOS rate: 1.893171 deg/s,
cmd heading: 105.911058 deg,
new cmd heading: 107.398624 deg.
2025-09-20T20:25:58.565Z,1758399958.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.874460 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:58.592Z,1758399958.592 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255063
2025-09-20T20:25:58.844Z,1758399958.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507380
2025-09-20T20:25:58.941Z,1758399958.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:25:58.944Z,1758399958.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:58.947Z,1758399958.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 2.280007 m,
bearing: 105.739272 deg,
approach rate: -0.512429 m/s,
LOS rate: 2.141098 deg/s,
cmd heading: 107.398625 deg,
new cmd heading: 109.039260 deg.
2025-09-20T20:25:58.948Z,1758399958.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.903094 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:59.096Z,1758399959.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759505
2025-09-20T20:25:59.351Z,1758399959.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013501
2025-09-20T20:25:59.434Z,1758399959.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:59.437Z,1758399959.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 2.028434 m,
bearing: 106.880634 deg,
approach rate: -0.513354 m/s,
LOS rate: 2.617711 deg/s,
cmd heading: 109.039257 deg,
new cmd heading: 111.603210 deg.
2025-09-20T20:25:59.438Z,1758399959.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.947843 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:59.600Z,1758399959.600 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263207
2025-09-20T20:25:59.803Z,1758399959.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.86 m. 9.86 m.
2025-09-20T20:25:59.806Z,1758399959.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
ProNav:
ac range: 9.856755 m,
nav range: 1.839744 m,
bearing: 107.916725 deg,
approach rate: -0.511822 m/s,
LOS rate: 3.098475 deg/s,
cmd heading: 111.603208 deg,
new cmd heading: 113.886585 deg.
2025-09-20T20:25:59.806Z,1758399959.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.987696 target range: 9.856755 and range: 3.60 m.
2025-09-20T20:25:59.854Z,1758399959.854 [DAT](INFO): DAT read: Rx Time:20:26:02.0818
2025-09-20T20:25:59.855Z,1758399959.855 [DAT](INFO): Rx dataTimestamp_ set to:1758399959.854197
2025-09-20T20:25:59.857Z,1758399959.857 [DAT](INFO): DAT read: Bearing 336.4, -4.4 (Local)
2025-09-20T20:25:59.857Z,1758399959.857 [DAT](INFO): Local bearing/azimuth received:
Bearing 336.4, -4.4 (Local)
2025-09-20T20:25:59.861Z,1758399959.861 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.3
2025-09-20T20:25:59.866Z,1758399959.866 [DAT](INFO): DAT read: 20:26:02.0818 LVL= 11584, 10321, 22770, 23123, AGC= 43, IDX= 235, 0.09,-3.037, 2.840,-2.822,-2.017, PHS=-0.918,-1.381,-0.848, RAW= 156.9, 65.7, CAL= 158.5, 70.9, ROT= 351.5, -70.9
2025-09-20T20:25:59.873Z,1758399959.873 [DAT](INFO): got valid direction response:
20:26:02.0818 LVL= 11584, 10321, 22770, 23123, AGC= 43, IDX= 235, 0.09,-3.037, 2.840,-2.822,-2.017, PHS=-0.918,-1.381,-0.848, RAW= 156.9, 65.7, CAL= 158.5, 70.9, ROT= 351.5, -70.9
2025-09-20T20:25:59.873Z,1758399959.873 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-09-20T20:25:59.874Z,1758399959.874 [DAT](INFO): direction in FSK: [0.323624,-0.048366,0.944949]
2025-09-20T20:25:59.915Z,1758399959.915 [DAT](INFO): publishing direction and range info
2025-09-20T20:25:59.918Z,1758399959.918 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.581571
2025-09-20T20:26:00.104Z,1758399960.104 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.767074
2025-09-20T20:26:00.237Z,1758399960.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.300000 m,
deltaT: 3.277422 s,
deltaX: -1.300000 m,
approachRate: -0.396653 m/s,
rangeRepo size: 4
2025-09-20T20:26:00.244Z,1758399960.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 2.290416 m,
bearing: 97.067369 deg,
lat: 36.779301 deg,
lon: -121.859535 deg,
deltaT: 15.639634 s,
deltaX: -7.566339 m,
approachRate: -0.483793 m/s,
posRepo size: 4
2025-09-20T20:26:00.245Z,1758399960.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.30 m.
2025-09-20T20:26:00.245Z,1758399960.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-09-20T20:26:00.361Z,1758399960.361 [DAT](INFO): DAT read: Rx Time:20:26:02.5816
2025-09-20T20:26:00.363Z,1758399960.363 [DAT](INFO): Rx dataTimestamp_ set to:1758399960.361676
2025-09-20T20:26:00.366Z,1758399960.366 [DAT](INFO): DAT read: Bearing 39.8, -4.7 (Local)
2025-09-20T20:26:00.367Z,1758399960.367 [DAT](INFO): Local bearing/azimuth received:
Bearing 39.8, -4.7 (Local)
2025-09-20T20:26:00.378Z,1758399960.378 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2
2025-09-20T20:26:00.393Z,1758399960.393 [DAT](INFO): DAT read: 20:26:02.5816 LVL= 16912, 13809, 20146, 18643, AGC= 41, IDX= 505, 0.09, 1.335, 3.014, 1.731,-2.998, PHS=-1.849,-0.227,-1.599, RAW= 321.8, 40.7, CAL= 321.8, 45.5, ROT= 188.2, -45.5
2025-09-20T20:26:00.394Z,1758399960.394 [DAT](INFO): got valid direction response:
20:26:02.5816 LVL= 16912, 13809, 20146, 18643, AGC= 41, IDX= 505, 0.09, 1.335, 3.014, 1.731,-2.998, PHS=-1.849,-0.227,-1.599, RAW= 321.8, 40.7, CAL= 321.8, 45.5, ROT= 188.2, -45.5
2025-09-20T20:26:00.399Z,1758399960.399 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-09-20T20:26:00.400Z,1758399960.400 [DAT](INFO): direction in FSK: [-0.693743,-0.099970,0.713250]
2025-09-20T20:26:00.400Z,1758399960.400 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:00.414Z,1758399960.414 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.077460
2025-09-20T20:26:00.611Z,1758399960.611 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273893
2025-09-20T20:26:00.706Z,1758399960.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.507479 s,
deltaX: -0.300000 m,
approachRate: -0.591157 m/s,
rangeRepo size: 4
2025-09-20T20:26:00.713Z,1758399960.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.991664 m,
bearing: 291.711726 deg,
lat: 36.779301 deg,
lon: -121.859536 deg,
deltaT: 0.507479 s,
deltaX: -0.298752 m,
approachRate: -0.588699 m/s,
posRepo size: 4
2025-09-20T20:26:00.862Z,1758399960.862 [DAT](INFO): DAT read: Rx Time:20:26:03.0824
2025-09-20T20:26:00.862Z,1758399960.862 [DAT](INFO): Rx dataTimestamp_ set to:1758399960.861856
2025-09-20T20:26:00.864Z,1758399960.864 [DAT](INFO): DAT read: Bearing 45.2, 12.9 (Local)
2025-09-20T20:26:00.865Z,1758399960.865 [DAT](INFO): Local bearing/azimuth received:
Bearing 45.2, 12.9 (Local)
2025-09-20T20:26:00.872Z,1758399960.872 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.2
2025-09-20T20:26:00.909Z,1758399960.909 [DAT](INFO): DAT read: 20:26:03.0824 LVL= 27376, 16849, 20898, 31475, AGC= 48, IDX= 505, 0.27, 2.375,-2.843, 2.121,-2.802, PHS=-1.004, 0.004,-1.404, RAW= 346.0, 34.1, CAL= 344.6, 39.3, ROT= 165.4, -39.3
2025-09-20T20:26:00.910Z,1758399960.910 [DAT](INFO): got valid direction response:
20:26:03.0824 LVL= 27376, 16849, 20898, 31475, AGC= 48, IDX= 505, 0.27, 2.375,-2.843, 2.121,-2.802, PHS=-1.004, 0.004,-1.404, RAW= 346.0, 34.1, CAL= 344.6, 39.3, ROT= 165.4, -39.3
2025-09-20T20:26:00.910Z,1758399960.910 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-09-20T20:26:00.911Z,1758399960.911 [DAT](INFO): direction in FSK: [-0.748852,0.195061,0.633381]
2025-09-20T20:26:00.912Z,1758399960.912 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:00.915Z,1758399960.915 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.578370
2025-09-20T20:26:01.025Z,1758399961.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 3.200000 m,
deltaT: 0.500180 s,
deltaX: 1.200000 m,
approachRate: 2.399136 m/s,
rangeRepo size: 4
2025-09-20T20:26:01.031Z,1758399961.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 3.186662 m,
bearing: 268.891723 deg,
lat: 36.779301 deg,
lon: -121.859545 deg,
deltaT: 0.500180 s,
deltaX: 1.194998 m,
approachRate: 2.389137 m/s,
posRepo size: 4
2025-09-20T20:26:01.117Z,1758399961.117 [DAT](INFO): DAT read: Rx Time:20:26:03.5814
2025-09-20T20:26:01.120Z,1758399961.120 [DAT](INFO): Rx dataTimestamp_ set to:1758399961.118046
2025-09-20T20:26:01.122Z,1758399961.122 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.784243
2025-09-20T20:26:01.370Z,1758399961.370 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.1
2025-09-20T20:26:01.373Z,1758399961.373 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-09-20T20:26:01.376Z,1758399961.376 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.038694
2025-09-20T20:26:01.480Z,1758399961.480 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:01.482Z,1758399961.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.503579 s,
deltaX: -1.500000 m,
approachRate: -2.978679 m/s,
rangeRepo size: 4
2025-09-20T20:26:01.619Z,1758399961.619 [DAT](INFO): DAT read: Rx Time:20:26:04.0816
2025-09-20T20:26:01.621Z,1758399961.621 [DAT](INFO): Rx dataTimestamp_ set to:1758399961.620147
2025-09-20T20:26:01.628Z,1758399961.628 [DAT](INFO): DAT read: Bearing 356.4, 27.7 (Local)
2025-09-20T20:26:01.629Z,1758399961.629 [DAT](INFO): Local bearing/azimuth received:
Bearing 356.4, 27.7 (Local)
2025-09-20T20:26:01.636Z,1758399961.636 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0
2025-09-20T20:26:01.671Z,1758399961.671 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-09-20T20:26:01.672Z,1758399961.672 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.335007
2025-09-20T20:26:01.820Z,1758399961.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 2.000000 m,
deltaT: 0.254712 s,
deltaX: 0.300000 m,
approachRate: 1.177801 m/s,
rangeRepo size: 4
2025-09-20T20:26:01.821Z,1758399961.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m.
2025-09-20T20:26:01.874Z,1758399961.874 [DAT](INFO): DAT read: 20:26:04.0816 LVL= 15952, 21041, 25026, 25299, AGC= 43, IDX= 505, 0.34, 0.186,-0.271,-0.671, 1.194, PHS=-0.906,-1.420,-1.909, RAW= 60.8, 59.9, CAL= 58.4, 63.5, ROT= 91.6, -63.5
2025-09-20T20:26:01.876Z,1758399961.876 [DAT](INFO): got valid direction response:
20:26:04.0816 LVL= 15952, 21041, 25026, 25299, AGC= 43, IDX= 505, 0.34, 0.186,-0.271,-0.671, 1.194, PHS=-0.906,-1.420,-1.909, RAW= 60.8, 59.9, CAL= 58.4, 63.5, ROT= 91.6, -63.5
2025-09-20T20:26:01.877Z,1758399961.877 [DAT](INFO): #Rx 6: Read direction message, but no range.
2025-09-20T20:26:01.878Z,1758399961.878 [DAT](INFO): direction in FSK: [-0.012459,0.446024,0.894934]
2025-09-20T20:26:01.881Z,1758399961.881 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.544604
2025-09-20T20:26:02.021Z,1758399962.021 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:26:02.123Z,1758399962.123 [DAT](INFO): DAT read: Rx Time:20:26:04.5814
2025-09-20T20:26:02.125Z,1758399962.125 [DAT](INFO): Rx dataTimestamp_ set to:1758399962.124168
2025-09-20T20:26:02.129Z,1758399962.129 [DAT](INFO): DAT read: Bearing 9.0, 25.6 (Local)
2025-09-20T20:26:02.130Z,1758399962.130 [DAT](INFO): Local bearing/azimuth received:
Bearing 9.0, 25.6 (Local)
2025-09-20T20:26:02.135Z,1758399962.135 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:02.137Z,1758399962.137 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-09-20T20:26:02.141Z,1758399962.141 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=4.803190
2025-09-20T20:26:02.264Z,1758399962.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.504021 s,
deltaX: -0.300000 m,
approachRate: -0.595213 m/s,
rangeRepo size: 4
2025-09-20T20:26:02.266Z,1758399962.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.692916 m,
bearing: 191.633644 deg,
lat: 36.779301 deg,
lon: -121.859545 deg,
deltaT: 1.262312 s,
deltaX: -1.493746 m,
approachRate: -1.183341 m/s,
posRepo size: 4
2025-09-20T20:26:02.391Z,1758399962.391 [DAT](INFO): DAT read: 20:26:04.5814 LVL= 16368, 13201, 19762, 19027, AGC= 40, IDX= 503,-0.04,-1.142,-1.212,-2.129, 0.300, PHS=-1.340,-1.467,-2.473, RAW= 35.9, 60.1, CAL= 34.6, 63.5, ROT= 115.4, -63.5
2025-09-20T20:26:02.395Z,1758399962.395 [DAT](INFO): got valid direction response:
20:26:04.5814 LVL= 16368, 13201, 19762, 19027, AGC= 40, IDX= 503,-0.04,-1.142,-1.212,-2.129, 0.300, PHS=-1.340,-1.467,-2.473, RAW= 35.9, 60.1, CAL= 34.6, 63.5, ROT= 115.4, -63.5
2025-09-20T20:26:02.396Z,1758399962.396 [DAT](INFO): #Rx 8: Read direction message, but no range.
2025-09-20T20:26:02.397Z,1758399962.397 [DAT](INFO): direction in FSK: [-0.191390,0.403066,0.894934]
2025-09-20T20:26:02.406Z,1758399962.406 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.068761
2025-09-20T20:26:02.629Z,1758399962.629 [DAT](INFO): DAT read: Rx Time:20:26:05.0814
2025-09-20T20:26:02.632Z,1758399962.632 [DAT](INFO): Rx dataTimestamp_ set to:1758399962.629861
2025-09-20T20:26:02.635Z,1758399962.635 [DAT](INFO): DAT read: Bearing 322.6, 54.5 (Local)
2025-09-20T20:26:02.636Z,1758399962.636 [DAT](INFO): Local bearing/azimuth received:
Bearing 322.6, 54.5 (Local)
2025-09-20T20:26:02.642Z,1758399962.642 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:02.644Z,1758399962.644 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-09-20T20:26:02.664Z,1758399962.664 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=5.326904
2025-09-20T20:26:02.811Z,1758399962.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.505693 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:26:02.813Z,1758399962.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.692918 m,
bearing: 217.032870 deg,
lat: 36.779301 deg,
lon: -121.859545 deg,
deltaT: 0.505693 s,
deltaX: 0.000002 m,
approachRate: 0.000003 m/s,
posRepo size: 4
2025-09-20T20:26:02.814Z,1758399962.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.70 m.
2025-09-20T20:26:02.814Z,1758399962.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-09-20T20:26:02.882Z,1758399962.882 [DAT](INFO): DAT read: 20:26:05.0814 LVL= 25232, 19937, 30386, 19443, AGC= 42, IDX= 504, 0.09, 1.618, 0.127,-0.044, 1.254, PHS= 0.466,-1.082,-1.342, RAW= 82.4, 22.2, CAL= 81.1, 29.0, ROT= 68.9, -29.0
2025-09-20T20:26:02.884Z,1758399962.884 [DAT](INFO): got valid direction response:
20:26:05.0814 LVL= 25232, 19937, 30386, 19443, AGC= 42, IDX= 504, 0.09, 1.618, 0.127,-0.044, 1.254, PHS= 0.466,-1.082,-1.342, RAW= 82.4, 22.2, CAL= 81.1, 29.0, ROT= 68.9, -29.0
2025-09-20T20:26:02.884Z,1758399962.884 [DAT](INFO): #Rx 10: Read direction message, but no range.
2025-09-20T20:26:02.886Z,1758399962.886 [DAT](INFO): direction in FSK: [0.314860,0.815980,0.484810]
2025-09-20T20:26:02.891Z,1758399962.891 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=5.554276
2025-09-20T20:26:03.024Z,1758399963.024 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:26:03.128Z,1758399963.128 [DAT](INFO): DAT read: Rx Time:20:26:05.5813
2025-09-20T20:26:03.128Z,1758399963.128 [DAT](INFO): Rx dataTimestamp_ set to:1758399963.128204
2025-09-20T20:26:03.130Z,1758399963.130 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:03.130Z,1758399963.130 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-09-20T20:26:03.131Z,1758399963.131 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=5.794381
2025-09-20T20:26:03.203Z,1758399963.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.498343 s,
deltaX: -0.200000 m,
approachRate: -0.401330 m/s,
rangeRepo size: 4
2025-09-20T20:26:03.206Z,1758399963.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.493751 m,
bearing: 172.240868 deg,
lat: 36.779295 deg,
lon: -121.859544 deg,
deltaT: 0.498343 s,
deltaX: -0.199167 m,
approachRate: -0.399658 m/s,
posRepo size: 4
2025-09-20T20:26:03.241Z,1758399963.241 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T20:26:03.385Z,1758399963.385 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=6.048087
2025-09-20T20:26:03.523Z,1758399963.523 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:03.633Z,1758399963.633 [DAT](INFO): DAT read: Rx Time:20:26:06.0815
2025-09-20T20:26:03.634Z,1758399963.634 [DAT](INFO): Rx dataTimestamp_ set to:1758399963.633391
2025-09-20T20:26:03.636Z,1758399963.636 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:03.637Z,1758399963.637 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-09-20T20:26:03.638Z,1758399963.638 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.300912
2025-09-20T20:26:03.884Z,1758399963.884 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=6.547170
2025-09-20T20:26:03.929Z,1758399963.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.505187 s,
deltaX: 0.300000 m,
approachRate: 0.593839 m/s,
rangeRepo size: 4
2025-09-20T20:26:04.136Z,1758399964.136 [DAT](INFO): DAT read: Rx Time:20:26:06.5814
2025-09-20T20:26:04.137Z,1758399964.137 [DAT](INFO): Rx dataTimestamp_ set to:1758399964.136348
2025-09-20T20:26:04.138Z,1758399964.138 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:04.138Z,1758399964.138 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-09-20T20:26:04.139Z,1758399964.139 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=6.802538
2025-09-20T20:26:04.316Z,1758399964.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.502957 s,
deltaX: -0.100000 m,
approachRate: -0.198824 m/s,
rangeRepo size: 4
2025-09-20T20:26:04.391Z,1758399964.391 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=7.053775
2025-09-20T20:26:04.645Z,1758399964.645 [DAT](INFO): DAT read: Rx Time:20:26:07.0815
2025-09-20T20:26:04.647Z,1758399964.647 [DAT](INFO): Rx dataTimestamp_ set to:1758399964.646041
2025-09-20T20:26:04.655Z,1758399964.655 [DAT](INFO): DAT read: Bearing 22.8, 37.7 (Local)
2025-09-20T20:26:04.657Z,1758399964.657 [DAT](INFO): Local bearing/azimuth received:
Bearing 22.8, 37.7 (Local)
2025-09-20T20:26:04.668Z,1758399964.668 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:04.718Z,1758399964.718 [DAT](INFO): DAT read: 20:26:07.0815 LVL= 15232, 14321, 22626, 18275, AGC= 40, IDX= 504,-0.39, 0.814, 0.626,-0.587, 1.930, PHS=-1.014,-1.259,-2.561, RAW= 38.5, 49.9, CAL= 36.6, 54.5, ROT= 113.4, -54.5
2025-09-20T20:26:04.727Z,1758399964.727 [DAT](INFO): got valid direction response:
20:26:07.0815 LVL= 15232, 14321, 22626, 18275, AGC= 40, IDX= 504,-0.39, 0.814, 0.626,-0.587, 1.930, PHS=-1.014,-1.259,-2.561, RAW= 38.5, 49.9, CAL= 36.6, 54.5, ROT= 113.4, -54.5
2025-09-20T20:26:04.728Z,1758399964.728 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-09-20T20:26:04.728Z,1758399964.728 [DAT](INFO): direction in FSK: [-0.230625,0.532943,0.814116]
2025-09-20T20:26:04.729Z,1758399964.729 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:04.745Z,1758399964.745 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.407784
2025-09-20T20:26:04.850Z,1758399964.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.800000 m,
deltaT: 0.509693 s,
deltaX: 0.100000 m,
approachRate: 0.196196 m/s,
rangeRepo size: 4
2025-09-20T20:26:04.860Z,1758399964.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.792493 m,
bearing: 230.245593 deg,
lat: 36.779294 deg,
lon: -121.859544 deg,
deltaT: 1.517837 s,
deltaX: 0.298742 m,
approachRate: 0.196821 m/s,
posRepo size: 4
2025-09-20T20:26:04.892Z,1758399964.892 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=7.555171
2025-09-20T20:26:05.144Z,1758399965.144 [DAT](INFO): DAT read: Rx Time:20:26:07.5814
2025-09-20T20:26:05.145Z,1758399965.145 [DAT](INFO): Rx dataTimestamp_ set to:1758399965.144546
2025-09-20T20:26:05.146Z,1758399965.146 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:05.147Z,1758399965.147 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-09-20T20:26:05.148Z,1758399965.148 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=7.810714
2025-09-20T20:26:05.150Z,1758399965.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.498505 s,
deltaX: -0.100000 m,
approachRate: -0.200600 m/s,
rangeRepo size: 4
2025-09-20T20:26:05.399Z,1758399965.399 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=8.061531
2025-09-20T20:26:05.552Z,1758399965.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:05.653Z,1758399965.653 [DAT](INFO): DAT read: Rx Time:20:26:08.0814
2025-09-20T20:26:05.655Z,1758399965.655 [DAT](INFO): Rx dataTimestamp_ set to:1758399965.653379
2025-09-20T20:26:05.663Z,1758399965.663 [DAT](INFO): DAT read: Bearing 355.8, 48.9 (Local)
2025-09-20T20:26:05.664Z,1758399965.664 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.8, 48.9 (Local)
2025-09-20T20:26:05.677Z,1758399965.677 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:05.694Z,1758399965.694 [DAT](INFO): DAT read: 20:26:08.0814 LVL= 18832, 17009, 26210, 14451, AGC= 40, IDX= 505,-0.19,-3.086, 1.738, 1.310,-3.042, PHS= 0.059,-1.458,-1.975, RAW= 75.8, 33.1, CAL= 71.3, 41.0, ROT= 78.7, -41.0
2025-09-20T20:26:05.702Z,1758399965.702 [DAT](INFO): got valid direction response:
20:26:08.0814 LVL= 18832, 17009, 26210, 14451, AGC= 40, IDX= 505,-0.19,-3.086, 1.738, 1.310,-3.042, PHS= 0.059,-1.458,-1.975, RAW= 75.8, 33.1, CAL= 71.3, 41.0, ROT= 78.7, -41.0
2025-09-20T20:26:05.702Z,1758399965.702 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-09-20T20:26:05.709Z,1758399965.709 [DAT](INFO): direction in FSK: [0.147883,0.740079,0.656059]
2025-09-20T20:26:05.709Z,1758399965.709 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:05.722Z,1758399965.722 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.384770
2025-09-20T20:26:05.900Z,1758399965.900 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=8.563154
2025-09-20T20:26:05.965Z,1758399965.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.508833 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:26:05.971Z,1758399965.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.692902 m,
bearing: 197.666810 deg,
lat: 36.779292 deg,
lon: -121.859540 deg,
deltaT: 1.007338 s,
deltaX: -0.099591 m,
approachRate: -0.098866 m/s,
posRepo size: 4
2025-09-20T20:26:06.158Z,1758399966.158 [DAT](INFO): DAT read: Rx Time:20:26:08.5814
2025-09-20T20:26:06.160Z,1758399966.160 [DAT](INFO): Rx dataTimestamp_ set to:1758399966.159524
2025-09-20T20:26:06.169Z,1758399966.169 [DAT](INFO): DAT read: Bearing 355.3, 44.4 (Local)
2025-09-20T20:26:06.170Z,1758399966.170 [DAT](INFO): Local bearing/azimuth received:
Bearing 355.3, 44.4 (Local)
2025-09-20T20:26:06.174Z,1758399966.174 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:06.215Z,1758399966.215 [DAT](INFO): DAT read: 20:26:08.5814 LVL= 22336, 18865, 27922, 16627, AGC= 41, IDX= 504,-0.24,-2.787, 1.997, 1.706,-2.709, PHS= 0.024,-1.532,-1.912, RAW= 79.3, 34.2, CAL= 75.6, 42.3, ROT= 74.4, -42.3
2025-09-20T20:26:06.216Z,1758399966.216 [DAT](INFO): got valid direction response:
20:26:08.5814 LVL= 22336, 18865, 27922, 16627, AGC= 41, IDX= 504,-0.24,-2.787, 1.997, 1.706,-2.709, PHS= 0.024,-1.532,-1.912, RAW= 79.3, 34.2, CAL= 75.6, 42.3, ROT= 74.4, -42.3
2025-09-20T20:26:06.217Z,1758399966.217 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-09-20T20:26:06.218Z,1758399966.218 [DAT](INFO): direction in FSK: [0.198901,0.712385,0.673013]
2025-09-20T20:26:06.218Z,1758399966.218 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:06.226Z,1758399966.226 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=8.888717
2025-09-20T20:26:06.362Z,1758399966.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.506145 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:26:06.364Z,1758399966.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.692895 m,
bearing: 193.314986 deg,
lat: 36.779288 deg,
lon: -121.859535 deg,
deltaT: 0.506145 s,
deltaX: -0.000008 m,
approachRate: -0.000015 m/s,
posRepo size: 4
2025-09-20T20:26:06.412Z,1758399966.412 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=9.074770
2025-09-20T20:26:06.665Z,1758399966.665 [DAT](INFO): DAT read: Rx Time:20:26:09.0814
2025-09-20T20:26:06.667Z,1758399966.667 [DAT](INFO): Rx dataTimestamp_ set to:1758399966.665597
2025-09-20T20:26:06.670Z,1758399966.670 [DAT](INFO): DAT read: Bearing 354.0, 42.5 (Local)
2025-09-20T20:26:06.671Z,1758399966.671 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.0, 42.5 (Local)
2025-09-20T20:26:06.682Z,1758399966.682 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:06.691Z,1758399966.691 [DAT](INFO): DAT read: 20:26:09.0814 LVL= 20128, 17457, 22258, 16275, AGC= 40, IDX= 504,-0.27,-0.644,-2.244,-2.418,-0.640, PHS= 0.098,-1.559,-1.822, RAW= 82.7, 32.8, CAL= 79.7, 41.3, ROT= 70.3, -41.3
2025-09-20T20:26:06.693Z,1758399966.693 [DAT](INFO): got valid direction response:
20:26:09.0814 LVL= 20128, 17457, 22258, 16275, AGC= 40, IDX= 504,-0.27,-0.644,-2.244,-2.418,-0.640, PHS= 0.098,-1.559,-1.822, RAW= 82.7, 32.8, CAL= 79.7, 41.3, ROT= 70.3, -41.3
2025-09-20T20:26:06.694Z,1758399966.694 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-09-20T20:26:06.696Z,1758399966.696 [DAT](INFO): direction in FSK: [0.253248,0.707293,0.660002]
2025-09-20T20:26:06.697Z,1758399966.697 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:06.701Z,1758399966.701 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.364519
2025-09-20T20:26:06.863Z,1758399966.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.506073 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
rangeRepo size: 4
2025-09-20T20:26:06.865Z,1758399966.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.692895 m,
bearing: 189.256252 deg,
lat: 36.779286 deg,
lon: -121.859535 deg,
deltaT: 0.506073 s,
deltaX: 0.000000 m,
approachRate: 0.000000 m/s,
posRepo size: 4
2025-09-20T20:26:06.913Z,1758399966.913 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=9.575995
2025-09-20T20:26:07.168Z,1758399967.168 [DAT](INFO): DAT read: Rx Time:20:26:09.5813
2025-09-20T20:26:07.169Z,1758399967.170 [DAT](INFO): Rx dataTimestamp_ set to:1758399967.168878
2025-09-20T20:26:07.172Z,1758399967.172 [DAT](INFO): DAT read: Bearing 354.0, 43.1 (Local)
2025-09-20T20:26:07.173Z,1758399967.173 [DAT](INFO): Local bearing/azimuth received:
Bearing 354.0, 43.1 (Local)
2025-09-20T20:26:07.181Z,1758399967.181 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:07.216Z,1758399967.216 [DAT](INFO): DAT read: 20:26:09.5813 LVL= 16880, 16433, 21202, 17843, AGC= 39, IDX= 503,-0.05,-2.901, 1.686, 1.549,-2.979, PHS= 0.180,-1.573,-1.799, RAW= 84.0, 31.0, CAL= 81.2, 39.8, ROT= 68.8, -39.8
2025-09-20T20:26:07.217Z,1758399967.217 [DAT](INFO): got valid direction response:
20:26:09.5813 LVL= 16880, 16433, 21202, 17843, AGC= 39, IDX= 503,-0.05,-2.901, 1.686, 1.549,-2.979, PHS= 0.180,-1.573,-1.799, RAW= 84.0, 31.0, CAL= 81.2, 39.8, ROT= 68.8, -39.8
2025-09-20T20:26:07.217Z,1758399967.217 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-09-20T20:26:07.218Z,1758399967.218 [DAT](INFO): direction in FSK: [0.277830,0.716289,0.640110]
2025-09-20T20:26:07.218Z,1758399967.218 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:07.230Z,1758399967.230 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=9.893169
2025-09-20T20:26:07.322Z,1758399967.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.503281 s,
deltaX: -0.200000 m,
approachRate: -0.397392 m/s,
rangeRepo size: 4
2025-09-20T20:26:07.328Z,1758399967.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.493734 m,
bearing: 196.090096 deg,
lat: 36.779286 deg,
lon: -121.859534 deg,
deltaT: 0.503281 s,
deltaX: -0.199161 m,
approachRate: -0.395725 m/s,
posRepo size: 4
2025-09-20T20:26:07.416Z,1758399967.416 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=10.079271
2025-09-20T20:26:07.670Z,1758399967.670 [DAT](INFO): DAT read: Rx Time:20:26:10.0814
2025-09-20T20:26:07.671Z,1758399967.671 [DAT](INFO): Rx dataTimestamp_ set to:1758399967.670813
2025-09-20T20:26:07.673Z,1758399967.673 [DAT](INFO): DAT read: Bearing 358.3, 44.7 (Local)
2025-09-20T20:26:07.674Z,1758399967.674 [DAT](INFO): Local bearing/azimuth received:
Bearing 358.3, 44.7 (Local)
2025-09-20T20:26:07.677Z,1758399967.677 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:07.694Z,1758399967.694 [DAT](INFO): DAT read: 20:26:10.0814 LVL= 16304, 17905, 26306, 20323, AGC= 40, IDX= 504, 0.31,-2.727, 1.900, 1.681,-2.755, PHS= 0.130,-1.583,-1.891, RAW= 81.9, 32.1, CAL= 78.6, 40.7, ROT= 71.4, -40.7
2025-09-20T20:26:07.704Z,1758399967.704 [DAT](INFO): got valid direction response:
20:26:10.0814 LVL= 16304, 17905, 26306, 20323, AGC= 40, IDX= 504, 0.31,-2.727, 1.900, 1.681,-2.755, PHS= 0.130,-1.583,-1.891, RAW= 81.9, 32.1, CAL= 78.6, 40.7, ROT= 71.4, -40.7
2025-09-20T20:26:07.704Z,1758399967.704 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-09-20T20:26:07.705Z,1758399967.705 [DAT](INFO): direction in FSK: [0.241814,0.718536,0.652098]
2025-09-20T20:26:07.705Z,1758399967.705 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:07.717Z,1758399967.717 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.380382
2025-09-20T20:26:07.864Z,1758399967.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.501935 s,
deltaX: 0.200000 m,
approachRate: 0.398458 m/s,
rangeRepo size: 4
2025-09-20T20:26:07.866Z,1758399967.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.692898 m,
bearing: 199.662758 deg,
lat: 36.779286 deg,
lon: -121.859534 deg,
deltaT: 0.501935 s,
deltaX: 0.199165 m,
approachRate: 0.396793 m/s,
posRepo size: 4
2025-09-20T20:26:07.921Z,1758399967.921 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=10.584142
2025-09-20T20:26:08.085Z,1758399968.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:08.174Z,1758399968.174 [DAT](INFO): DAT read: Rx Time:20:26:10.5813
2025-09-20T20:26:08.175Z,1758399968.175 [DAT](INFO): Rx dataTimestamp_ set to:1758399968.174660
2025-09-20T20:26:08.178Z,1758399968.178 [DAT](INFO): DAT read: Bearing 347.5, 50.6 (Local)
2025-09-20T20:26:08.178Z,1758399968.178 [DAT](INFO): Local bearing/azimuth received:
Bearing 347.5, 50.6 (Local)
2025-09-20T20:26:08.182Z,1758399968.182 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:08.199Z,1758399968.199 [DAT](INFO): DAT read: 20:26:10.5813 LVL= 15984, 18849, 26258, 20195, AGC= 39, IDX= 504,-0.37,-0.780,-2.609,-2.760,-1.191, PHS= 0.513,-1.373,-1.613, RAW= 84.1, 23.4, CAL= 82.7, 30.3, ROT= 67.3, -30.3
2025-09-20T20:26:08.208Z,1758399968.208 [DAT](INFO): got valid direction response:
20:26:10.5813 LVL= 15984, 18849, 26258, 20195, AGC= 39, IDX= 504,-0.37,-0.780,-2.609,-2.760,-1.191, PHS= 0.513,-1.373,-1.613, RAW= 84.1, 23.4, CAL= 82.7, 30.3, ROT= 67.3, -30.3
2025-09-20T20:26:08.209Z,1758399968.209 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-09-20T20:26:08.210Z,1758399968.210 [DAT](INFO): direction in FSK: [0.333189,0.796515,0.504528]
2025-09-20T20:26:08.211Z,1758399968.211 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:08.215Z,1758399968.215 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=10.877749
2025-09-20T20:26:08.428Z,1758399968.428 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=11.089809
2025-09-20T20:26:08.560Z,1758399968.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.503847 s,
deltaX: -0.200000 m,
approachRate: -0.396946 m/s,
rangeRepo size: 4
2025-09-20T20:26:08.562Z,1758399968.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
Added new target pos.
range: 1.493736 m,
bearing: 200.249799 deg,
lat: 36.779285 deg,
lon: -121.859534 deg,
deltaT: 0.503847 s,
deltaX: -0.199162 m,
approachRate: -0.395282 m/s,
posRepo size: 4
2025-09-20T20:26:08.678Z,1758399968.678 [DAT](INFO): DAT read: Rx Time:20:26:11.0814
2025-09-20T20:26:08.678Z,1758399968.678 [DAT](INFO): Rx dataTimestamp_ set to:1758399968.678221
2025-09-20T20:26:08.681Z,1758399968.681 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:08.682Z,1758399968.682 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-09-20T20:26:08.684Z,1758399968.684 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.346726
2025-09-20T20:26:08.896Z,1758399968.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.700000 m,
deltaT: 0.503561 s,
deltaX: 0.200000 m,
approachRate: 0.397171 m/s,
rangeRepo size: 4
2025-09-20T20:26:08.931Z,1758399968.931 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=11.593796
2025-09-20T20:26:09.183Z,1758399969.183 [DAT](INFO): DAT read: Rx Time:20:26:11.5813
2025-09-20T20:26:09.184Z,1758399969.184 [DAT](INFO): Rx dataTimestamp_ set to:1758399969.183798
2025-09-20T20:26:09.186Z,1758399969.186 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:09.187Z,1758399969.187 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-09-20T20:26:09.189Z,1758399969.189 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=11.851507
2025-09-20T20:26:09.304Z,1758399969.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO):
addTargetRange:: Added new target pos.
range: 1.500000 m,
deltaT: 0.505577 s,
deltaX: -0.200000 m,
approachRate: -0.395588 m/s,
rangeRepo size: 4
2025-09-20T20:26:09.306Z,1758399969.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 1.50 m. Lat: 36.779285 Lon: -121.859534 Cable present.
2025-09-20T20:26:09.306Z,1758399969.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-09-20T20:26:09.306Z,1758399969.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-09-20T20:26:09.306Z,1758399969.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-09-20T20:26:09.432Z,1758399969.432 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.095115
2025-09-20T20:26:09.686Z,1758399969.686 [DAT](INFO): DAT read: Rx Time:20:26:12.0814
2025-09-20T20:26:09.686Z,1758399969.686 [DAT](INFO): Rx dataTimestamp_ set to:1758399969.686154
2025-09-20T20:26:09.689Z,1758399969.689 [DAT](INFO): DAT read: Bearing 97.2, -13.8 (Local)
2025-09-20T20:26:09.690Z,1758399969.690 [DAT](INFO): Local bearing/azimuth received:
Bearing 97.2, -13.8 (Local)
2025-09-20T20:26:09.698Z,1758399969.698 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:09.702Z,1758399969.702 [DAT](INFO): DAT read: 20:26:12.0814 LVL= 14912, 19585, 28626, 20979, AGC= 40, IDX= 509, 0.29,-2.555,-0.926,-1.945,-1.348, PHS=-1.104, 0.467,-0.641, RAW= 313.3, 17.9, CAL= 312.4, 23.0, ROT= 197.6, -23.0
2025-09-20T20:26:09.728Z,1758399969.728 [DAT](INFO): got valid direction response:
20:26:12.0814 LVL= 14912, 19585, 28626, 20979, AGC= 40, IDX= 509, 0.29,-2.555,-0.926,-1.945,-1.348, PHS=-1.104, 0.467,-0.641, RAW= 313.3, 17.9, CAL= 312.4, 23.0, ROT= 197.6, -23.0
2025-09-20T20:26:09.728Z,1758399969.728 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-09-20T20:26:09.729Z,1758399969.729 [DAT](INFO): direction in FSK: [-0.877417,-0.278333,0.390731]
2025-09-20T20:26:09.729Z,1758399969.729 [DAT](INFO): publishing direction and range info
2025-09-20T20:26:09.741Z,1758399969.741 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.403649
2025-09-20T20:26:09.847Z,1758399969.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-09-20T20:26:09.847Z,1758399969.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-09-20T20:26:09.848Z,1758399969.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-09-20T20:26:09.936Z,1758399969.936 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=12.599144
2025-09-20T20:26:10.196Z,1758399970.196 [DAT](INFO): DAT read: Rx Time:20:26:12.5813
2025-09-20T20:26:10.197Z,1758399970.197 [DAT](INFO): Rx dataTimestamp_ set to:1758399970.196447
2025-09-20T20:26:10.198Z,1758399970.198 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:10.198Z,1758399970.198 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-09-20T20:26:10.199Z,1758399970.200 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=12.862636
2025-09-20T20:26:10.209Z,1758399970.209 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:10.210Z,1758399970.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-09-20T20:26:10.216Z,1758399970.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-09-20T20:26:10.217Z,1758399970.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T20:26:10.448Z,1758399970.448 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.111151
2025-09-20T20:26:10.635Z,1758399970.635 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-09-20T20:26:10.635Z,1758399970.635 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-09-20T20:26:10.635Z,1758399970.635 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-20T20:26:10.635Z,1758399970.635 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-20T20:26:10.635Z,1758399970.635 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-09-20T20:26:10.635Z,1758399970.635 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-09-20T20:26:10.636Z,1758399970.636 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2025-09-20T20:26:10.636Z,1758399970.636 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-09-20T20:26:10.636Z,1758399970.636 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-09-20T20:26:10.637Z,1758399970.637 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-09-20T20:26:10.637Z,1758399970.637 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-09-20T20:26:10.637Z,1758399970.637 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-09-20T20:26:10.637Z,1758399970.637 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-09-20T20:26:10.637Z,1758399970.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-09-20T20:26:10.637Z,1758399970.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-09-20T20:26:10.638Z,1758399970.638 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-09-20T20:26:10.638Z,1758399970.638 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-09-20T20:26:10.700Z,1758399970.700 [DAT](INFO): DAT read: Rx Time:20:26:13.0813
2025-09-20T20:26:10.701Z,1758399970.701 [DAT](INFO): Rx dataTimestamp_ set to:1758399970.700487
2025-09-20T20:26:10.702Z,1758399970.702 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:10.703Z,1758399970.703 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-09-20T20:26:10.704Z,1758399970.704 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.366667
2025-09-20T20:26:10.952Z,1758399970.952 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.615070
2025-09-20T20:26:11.002Z,1758399971.002 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-09-20T20:26:11.003Z,1758399971.003 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-09-20T20:26:11.204Z,1758399971.204 [DAT](INFO): DAT read: Rx Time:20:26:13.5813
2025-09-20T20:26:11.205Z,1758399971.205 [DAT](INFO): Rx dataTimestamp_ set to:1758399971.204399
2025-09-20T20:26:11.206Z,1758399971.206 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:11.206Z,1758399971.206 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-09-20T20:26:11.207Z,1758399971.207 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.870578
2025-09-20T20:26:11.409Z,1758399971.409 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-09-20T20:26:11.409Z,1758399971.409 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-09-20T20:26:11.409Z,1758399971.409 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-09-20T20:26:11.456Z,1758399971.456 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.119058
2025-09-20T20:26:11.708Z,1758399971.708 [DAT](INFO): DAT read: Rx Time:20:26:14.0814
2025-09-20T20:26:11.709Z,1758399971.709 [DAT](INFO): Rx dataTimestamp_ set to:1758399971.708262
2025-09-20T20:26:11.710Z,1758399971.710 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:11.710Z,1758399971.710 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-09-20T20:26:11.711Z,1758399971.711 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.374435
2025-09-20T20:26:11.960Z,1758399971.960 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.623153
2025-09-20T20:26:12.212Z,1758399972.212 [DAT](INFO): DAT read: Rx Time:20:26:14.5813
2025-09-20T20:26:12.213Z,1758399972.213 [DAT](INFO): Rx dataTimestamp_ set to:1758399972.212404
2025-09-20T20:26:12.214Z,1758399972.214 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:12.214Z,1758399972.214 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-09-20T20:26:12.215Z,1758399972.215 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.878583
2025-09-20T20:26:12.467Z,1758399972.467 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.129247
2025-09-20T20:26:12.633Z,1758399972.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:12.716Z,1758399972.716 [DAT](INFO): DAT read: Rx Time:20:26:15.0814
2025-09-20T20:26:12.717Z,1758399972.717 [DAT](INFO): Rx dataTimestamp_ set to:1758399972.716342
2025-09-20T20:26:12.718Z,1758399972.718 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:12.718Z,1758399972.718 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-09-20T20:26:12.719Z,1758399972.719 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.382548
2025-09-20T20:26:12.968Z,1758399972.968 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.631099
2025-09-20T20:26:13.220Z,1758399973.220 [DAT](INFO): DAT read: Rx Time:20:26:15.5813
2025-09-20T20:26:13.221Z,1758399973.221 [DAT](INFO): Rx dataTimestamp_ set to:1758399973.220326
2025-09-20T20:26:13.222Z,1758399973.222 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:13.222Z,1758399973.222 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-09-20T20:26:13.223Z,1758399973.223 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.886530
2025-09-20T20:26:13.472Z,1758399973.472 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.135168
2025-09-20T20:26:13.724Z,1758399973.724 [DAT](INFO): DAT read: Rx Time:20:26:16.0815
2025-09-20T20:26:13.725Z,1758399973.725 [DAT](INFO): Rx dataTimestamp_ set to:1758399973.724322
2025-09-20T20:26:13.726Z,1758399973.726 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:13.726Z,1758399973.726 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-09-20T20:26:13.727Z,1758399973.727 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.390514
2025-09-20T20:26:13.976Z,1758399973.976 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.639112
2025-09-20T20:26:14.221Z,1758399974.221 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-09-20T20:26:14.221Z,1758399974.221 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-09-20T20:26:14.221Z,1758399974.221 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-09-20T20:26:14.221Z,1758399974.221 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-09-20T20:26:14.236Z,1758399974.236 [DAT](INFO): DAT read: Rx Time:20:26:16.5814
2025-09-20T20:26:14.237Z,1758399974.237 [DAT](INFO): Rx dataTimestamp_ set to:1758399974.236409
2025-09-20T20:26:14.238Z,1758399974.238 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:14.238Z,1758399974.238 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-09-20T20:26:14.239Z,1758399974.239 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.902592
2025-09-20T20:26:14.488Z,1758399974.488 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.151062
2025-09-20T20:26:14.670Z,1758399974.670 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:14.676Z,1758399974.676 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count
2025-09-20T20:26:14.677Z,1758399974.677 [lineCaptureHoming:LineCapture:M] Stopped
2025-09-20T20:26:14.684Z,1758399974.684 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-09-20T20:26:14.684Z,1758399974.684 [lineCaptureHoming:LineCapture] Stopped
2025-09-20T20:26:14.684Z,1758399974.684 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-09-20T20:26:14.684Z,1758399974.684 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:G] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:H] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-09-20T20:26:14.685Z,1758399974.685 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-09-20T20:26:14.686Z,1758399974.686 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-09-20T20:26:14.686Z,1758399974.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-09-20T20:26:14.686Z,1758399974.686 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-20T20:26:14.740Z,1758399974.740 [DAT](INFO): DAT read: Rx Time:20:26:17.0815
2025-09-20T20:26:14.741Z,1758399974.741 [DAT](INFO): Rx dataTimestamp_ set to:1758399974.740451
2025-09-20T20:26:14.742Z,1758399974.742 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:14.742Z,1758399974.742 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-09-20T20:26:14.744Z,1758399974.744 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.406654
2025-09-20T20:26:14.992Z,1758399974.992 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.655155
2025-09-20T20:26:15.037Z,1758399975.037 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-09-20T20:26:15.037Z,1758399975.037 [lineCaptureHoming:Lap:B] Stopped
2025-09-20T20:26:15.037Z,1758399975.037 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-09-20T20:26:15.037Z,1758399975.037 [lineCaptureHoming:Lap:C] Running Loop=1
2025-09-20T20:26:15.244Z,1758399975.244 [DAT](INFO): DAT read: Rx Time:20:26:17.5814
2025-09-20T20:26:15.245Z,1758399975.245 [DAT](INFO): Rx dataTimestamp_ set to:1758399975.244434
2025-09-20T20:26:15.246Z,1758399975.246 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:15.246Z,1758399975.246 [DAT](ERROR): #Rx 35: Read range message, but no direction.
2025-09-20T20:26:15.247Z,1758399975.247 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.910633
2025-09-20T20:26:15.430Z,1758399975.430 [lineCaptureHoming:Lap:C] Stopped
2025-09-20T20:26:15.430Z,1758399975.430 [lineCaptureHoming:Lap:D] Running Loop=1
2025-09-20T20:26:15.496Z,1758399975.496 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.159164
2025-09-20T20:26:15.748Z,1758399975.748 [DAT](INFO): DAT read: Rx Time:20:26:18.0815
2025-09-20T20:26:15.749Z,1758399975.749 [DAT](INFO): Rx dataTimestamp_ set to:1758399975.748469
2025-09-20T20:26:15.750Z,1758399975.750 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:15.751Z,1758399975.751 [DAT](ERROR): #Rx 36: Read range message, but no direction.
2025-09-20T20:26:15.752Z,1758399975.752 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.415255
2025-09-20T20:26:15.861Z,1758399975.861 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count
2025-09-20T20:26:15.861Z,1758399975.861 [lineCaptureHoming:Lap:D] Stopped
2025-09-20T20:26:15.861Z,1758399975.861 [lineCaptureHoming:Lap:E] Running Loop=1
2025-09-20T20:26:15.861Z,1758399975.861 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-09-20T20:26:15.000Z,1758399976.000 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.663099
2025-09-20T20:26:16.237Z,1758399976.237 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-09-20T20:26:16.237Z,1758399976.237 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-09-20T20:26:16.237Z,1758399976.237 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-09-20T20:26:16.238Z,1758399976.238 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-09-20T20:26:16.238Z,1758399976.238 [lineCaptureHoming:restartDHCP:A] Stopped
2025-09-20T20:26:16.238Z,1758399976.238 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-09-20T20:26:16.252Z,1758399976.252 [DAT](INFO): DAT read: Rx Time:20:26:18.5814
2025-09-20T20:26:16.253Z,1758399976.253 [DAT](INFO): Rx dataTimestamp_ set to:1758399976.252239
2025-09-20T20:26:16.254Z,1758399976.254 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:16.254Z,1758399976.254 [DAT](ERROR): #Rx 37: Read range message, but no direction.
2025-09-20T20:26:16.255Z,1758399976.255 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.918413
2025-09-20T20:26:16.504Z,1758399976.504 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.167168
2025-09-20T20:26:16.689Z,1758399976.689 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-09-20T20:26:16.689Z,1758399976.689 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-09-20T20:26:16.689Z,1758399976.689 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-09-20T20:26:16.689Z,1758399976.689 [lineCaptureHoming:restartDHCP] Stopped
2025-09-20T20:26:16.689Z,1758399976.689 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-09-20T20:26:16.690Z,1758399976.690 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:26:16.754Z,1758399976.754 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-09-20T20:26:16.786Z,1758399976.786 [DAT](INFO): DAT read: Rx Time:20:26:19.0814
2025-09-20T20:26:16.790Z,1758399976.790 [DAT](INFO): Rx dataTimestamp_ set to:1758399976.788138
2025-09-20T20:26:16.792Z,1758399976.792 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:16.793Z,1758399976.793 [DAT](ERROR): #Rx 38: Read range message, but no direction.
2025-09-20T20:26:16.796Z,1758399976.796 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.458536
2025-09-20T20:26:17.008Z,1758399977.008 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.671366
2025-09-20T20:26:17.084Z,1758399977.084 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-09-20T20:26:17.084Z,1758399977.084 [lineCaptureHoming:Lap:E] Stopped
2025-09-20T20:26:17.084Z,1758399977.084 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-09-20T20:26:17.085Z,1758399977.085 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-09-20T20:26:17.085Z,1758399977.085 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-09-20T20:26:17.085Z,1758399977.085 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-09-20T20:26:17.135Z,1758399977.135 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-09-20UTC202617_sh
2025-09-20T20:26:17.261Z,1758399977.261 [DAT](INFO): DAT read: Rx Time:20:26:19.5814
2025-09-20T20:26:17.261Z,1758399977.261 [DAT](INFO): Rx dataTimestamp_ set to:1758399977.260723
2025-09-20T20:26:17.262Z,1758399977.262 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:17.263Z,1758399977.263 [DAT](ERROR): #Rx 39: Read range message, but no direction.
2025-09-20T20:26:17.264Z,1758399977.264 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.927345
2025-09-20T20:26:17.478Z,1758399977.478 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min
2025-09-20T20:26:17.478Z,1758399977.478 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-09-20T20:26:17.478Z,1758399977.478 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-09-20T20:26:17.512Z,1758399977.512 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.175205
2025-09-20T20:26:17.765Z,1758399977.765 [DAT](INFO): DAT read: Rx Time:20:26:20.0815
2025-09-20T20:26:17.765Z,1758399977.765 [DAT](INFO): Rx dataTimestamp_ set to:1758399977.765207
2025-09-20T20:26:17.767Z,1758399977.767 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:17.768Z,1758399977.768 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-09-20T20:26:17.769Z,1758399977.769 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.432453
2025-09-20T20:26:17.877Z,1758399977.877 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-09-20T20:26:17.877Z,1758399977.877 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-09-20T20:26:18.016Z,1758399978.016 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.679148
2025-09-20T20:26:18.268Z,1758399978.268 [DAT](INFO): DAT read: Rx Time:20:26:20.5814
2025-09-20T20:26:18.269Z,1758399978.269 [DAT](INFO): Rx dataTimestamp_ set to:1758399978.268580
2025-09-20T20:26:18.270Z,1758399978.270 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:18.271Z,1758399978.271 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-09-20T20:26:18.272Z,1758399978.272 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.934919
2025-09-20T20:26:18.276Z,1758399978.276 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-09-20T20:26:18.276Z,1758399978.276 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-09-20T20:26:18.276Z,1758399978.276 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-09-20T20:26:18.276Z,1758399978.276 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-09-20T20:26:18.520Z,1758399978.520 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.183151
2025-09-20T20:26:18.695Z,1758399978.695 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0.00, +0.00, 22.07
2025-09-20T20:26:18.774Z,1758399978.774 [DAT](INFO): DAT read: Rx Time:20:26:21.0815
2025-09-20T20:26:18.774Z,1758399978.774 [DAT](INFO): Rx dataTimestamp_ set to:1758399978.773838
2025-09-20T20:26:18.776Z,1758399978.776 [DAT](INFO): DAT read: Range 11 to 50 : rip time 1.2 ms) speed 0.0
2025-09-20T20:26:18.777Z,1758399978.777 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 : rip time 1.2 ms) speed 0.0
2025-09-20T20:26:18.777Z,1758399978.777 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.440350
2025-09-20T20:26:18.778Z,1758399978.778 [DAT](INFO): Requesting device enable set for address 50.
2025-09-20T20:26:19.024Z,1758399979.024 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.687086
2025-09-20T20:26:19.024Z,1758399979.024 [DAT](INFO): Requesting device enable set for address 50.
2025-09-20T20:26:19.276Z,1758399979.276 [DAT](INFO): DAT read: Rx Time:20:26:21.5814
2025-09-20T20:26:19.277Z,1758399979.277 [DAT](INFO): Rx dataTimestamp_ set to:1758399979.276518
2025-09-20T20:26:19.278Z,1758399979.278 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:19.279Z,1758399979.279 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-09-20T20:26:19.280Z,1758399979.280 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.942856
2025-09-20T20:26:19.280Z,1758399979.280 [DAT](INFO): Requesting device enable set for address 50.
2025-09-20T20:26:19.520Z,1758399979.520 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-09-20T20:26:19.528Z,1758399979.528 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.191084
2025-09-20T20:26:19.647Z,1758399979.647 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-09-20T20:26:19.781Z,1758399979.781 [DAT](INFO): DAT read: Rx Time:20:26:22.0815
2025-09-20T20:26:19.782Z,1758399979.782 [DAT](INFO): Rx dataTimestamp_ set to:1758399979.781006
2025-09-20T20:26:19.783Z,1758399979.783 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:19.784Z,1758399979.784 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-09-20T20:26:19.785Z,1758399979.785 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.448444
2025-09-20T20:26:20.032Z,1758399980.032 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.695110
2025-09-20T20:26:20.284Z,1758399980.284 [DAT](INFO): DAT read: Rx Time:20:26:22.5814
2025-09-20T20:26:20.285Z,1758399980.285 [DAT](INFO): Rx dataTimestamp_ set to:1758399980.284551
2025-09-20T20:26:20.286Z,1758399980.286 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:20.287Z,1758399980.287 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-09-20T20:26:20.288Z,1758399980.288 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.950737
2025-09-20T20:26:20.536Z,1758399980.536 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.199308
2025-09-20T20:26:20.790Z,1758399980.790 [DAT](INFO): DAT read: Rx Time:20:26:23.0813
2025-09-20T20:26:20.792Z,1758399980.792 [DAT](INFO): Rx dataTimestamp_ set to:1758399980.790534
2025-09-20T20:26:20.795Z,1758399980.795 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:20.795Z,1758399980.795 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-09-20T20:26:20.796Z,1758399980.796 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.459526
2025-09-20T20:26:21.040Z,1758399981.040 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.703110
2025-09-20T20:26:21.292Z,1758399981.292 [DAT](INFO): DAT read: Rx Time:20:26:23.5813
2025-09-20T20:26:21.293Z,1758399981.293 [DAT](INFO): Rx dataTimestamp_ set to:1758399981.292371
2025-09-20T20:26:21.294Z,1758399981.294 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:21.295Z,1758399981.295 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-09-20T20:26:21.296Z,1758399981.296 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.958717
2025-09-20T20:26:21.544Z,1758399981.544 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.207510
2025-09-20T20:26:21.796Z,1758399981.796 [DAT](INFO): DAT read: Rx Time:20:26:24.0814
2025-09-20T20:26:21.797Z,1758399981.797 [DAT](INFO): Rx dataTimestamp_ set to:1758399981.796321
2025-09-20T20:26:21.798Z,1758399981.798 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:21.798Z,1758399981.798 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-09-20T20:26:21.799Z,1758399981.799 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.462568
2025-09-20T20:26:22.048Z,1758399982.048 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.711086
2025-09-20T20:26:22.300Z,1758399982.300 [DAT](INFO): DAT read: Rx Time:20:26:24.5813
2025-09-20T20:26:22.301Z,1758399982.301 [DAT](INFO): Rx dataTimestamp_ set to:1758399982.300454
2025-09-20T20:26:22.302Z,1758399982.302 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:22.302Z,1758399982.302 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-09-20T20:26:22.304Z,1758399982.304 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.966700
2025-09-20T20:26:22.552Z,1758399982.552 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.215296
2025-09-20T20:26:22.804Z,1758399982.804 [DAT](INFO): DAT read: Rx Time:20:26:25.0814
2025-09-20T20:26:22.805Z,1758399982.805 [DAT](INFO): Rx dataTimestamp_ set to:1758399982.804408
2025-09-20T20:26:22.806Z,1758399982.806 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:22.807Z,1758399982.807 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-09-20T20:26:22.808Z,1758399982.808 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.470682
2025-09-20T20:26:23.056Z,1758399983.056 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.719109
2025-09-20T20:26:23.148Z,1758399983.148 [DockingStepper](INFO): Changing to mode: 1
2025-09-20T20:26:23.308Z,1758399983.308 [DAT](INFO): DAT read: Rx Time:20:26:25.5813
2025-09-20T20:26:23.309Z,1758399983.309 [DAT](INFO): Rx dataTimestamp_ set to:1758399983.308373
2025-09-20T20:26:23.310Z,1758399983.310 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:23.310Z,1758399983.310 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-09-20T20:26:23.311Z,1758399983.311 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.974552
2025-09-20T20:26:23.561Z,1758399983.561 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.223600
2025-09-20T20:26:23.812Z,1758399983.812 [DAT](INFO): DAT read: Rx Time:20:26:26.0814
2025-09-20T20:26:23.813Z,1758399983.813 [DAT](INFO): Rx dataTimestamp_ set to:1758399983.812273
2025-09-20T20:26:23.814Z,1758399983.814 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:23.814Z,1758399983.814 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-09-20T20:26:23.815Z,1758399983.815 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.478563
2025-09-20T20:26:24.064Z,1758399984.064 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.727121
2025-09-20T20:26:24.324Z,1758399984.324 [DAT](INFO): DAT read: Rx Time:20:26:26.5813
2025-09-20T20:26:24.325Z,1758399984.325 [DAT](INFO): Rx dataTimestamp_ set to:1758399984.324358
2025-09-20T20:26:24.326Z,1758399984.326 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:24.326Z,1758399984.326 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-09-20T20:26:24.328Z,1758399984.328 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.990650
2025-09-20T20:26:24.576Z,1758399984.576 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.239122
2025-09-20T20:26:24.829Z,1758399984.829 [DAT](INFO): DAT read: Rx Time:20:26:27.0814
2025-09-20T20:26:24.830Z,1758399984.830 [DAT](INFO): Rx dataTimestamp_ set to:1758399984.829344
2025-09-20T20:26:24.831Z,1758399984.831 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:24.832Z,1758399984.832 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-09-20T20:26:24.834Z,1758399984.834 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.496677
2025-09-20T20:26:25.080Z,1758399985.080 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.743050
2025-09-20T20:26:25.332Z,1758399985.332 [DAT](INFO): DAT read: Rx Time:20:26:27.5813
2025-09-20T20:26:25.333Z,1758399985.333 [DAT](INFO): Rx dataTimestamp_ set to:1758399985.332322
2025-09-20T20:26:25.334Z,1758399985.334 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:25.334Z,1758399985.334 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-09-20T20:26:25.335Z,1758399985.335 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.998508
2025-09-20T20:26:25.585Z,1758399985.585 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.248114
2025-09-20T20:26:25.836Z,1758399985.836 [DAT](INFO): DAT read: Rx Time:20:26:28.0814
2025-09-20T20:26:25.837Z,1758399985.837 [DAT](INFO): Rx dataTimestamp_ set to:1758399985.836355
2025-09-20T20:26:25.838Z,1758399985.838 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:25.838Z,1758399985.838 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-09-20T20:26:25.839Z,1758399985.839 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.502628
2025-09-20T20:26:26.088Z,1758399986.088 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.751362
2025-09-20T20:26:26.340Z,1758399986.340 [DAT](INFO): DAT read: Rx Time:20:26:28.5813
2025-09-20T20:26:26.341Z,1758399986.341 [DAT](INFO): Rx dataTimestamp_ set to:1758399986.340514
2025-09-20T20:26:26.342Z,1758399986.342 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:26.343Z,1758399986.343 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-09-20T20:26:26.344Z,1758399986.344 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.006807
2025-09-20T20:26:26.592Z,1758399986.592 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.255346
2025-09-20T20:26:26.844Z,1758399986.844 [DAT](INFO): DAT read: Rx Time:20:26:29.0814
2025-09-20T20:26:26.845Z,1758399986.845 [DAT](INFO): Rx dataTimestamp_ set to:1758399986.844968
2025-09-20T20:26:26.847Z,1758399986.847 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:26.848Z,1758399986.848 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-09-20T20:26:26.849Z,1758399986.849 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.512371
2025-09-20T20:26:27.096Z,1758399987.096 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.759148
2025-09-20T20:26:27.348Z,1758399987.348 [DAT](INFO): DAT read: Rx Time:20:26:29.5813
2025-09-20T20:26:27.349Z,1758399987.349 [DAT](INFO): Rx dataTimestamp_ set to:1758399987.348438
2025-09-20T20:26:27.350Z,1758399987.350 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:27.350Z,1758399987.350 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-09-20T20:26:27.351Z,1758399987.351 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.014622
2025-09-20T20:26:27.602Z,1758399987.602 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.264826
2025-09-20T20:26:27.852Z,1758399987.852 [DAT](INFO): DAT read: Rx Time:20:26:30.0815
2025-09-20T20:26:27.853Z,1758399987.853 [DAT](INFO): Rx dataTimestamp_ set to:1758399987.852394
2025-09-20T20:26:27.854Z,1758399987.854 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:27.854Z,1758399987.854 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-09-20T20:26:27.855Z,1758399987.855 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.518599
2025-09-20T20:26:28.105Z,1758399988.105 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.768166
2025-09-20T20:26:28.356Z,1758399988.356 [DAT](INFO): DAT read: Rx Time:20:26:30.5814
2025-09-20T20:26:28.357Z,1758399988.357 [DAT](INFO): Rx dataTimestamp_ set to:1758399988.356445
2025-09-20T20:26:28.358Z,1758399988.358 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:28.358Z,1758399988.358 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-09-20T20:26:28.359Z,1758399988.359 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.022633
2025-09-20T20:26:28.612Z,1758399988.612 [DAT](INFO): DAT read: Rx Time:20:26:31.0814
2025-09-20T20:26:28.613Z,1758399988.613 [DAT](INFO): Rx dataTimestamp_ set to:1758399988.612071
2025-09-20T20:26:28.615Z,1758399988.615 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=31.277485
2025-09-20T20:26:28.861Z,1758399988.861 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:28.862Z,1758399988.862 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-09-20T20:26:28.863Z,1758399988.863 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.526419
2025-09-20T20:26:29.114Z,1758399989.114 [DAT](INFO): DAT read: Rx Time:20:26:31.5813
2025-09-20T20:26:29.116Z,1758399989.116 [DAT](INFO): Rx dataTimestamp_ set to:1758399989.115296
2025-09-20T20:26:29.118Z,1758399989.118 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.780699
2025-09-20T20:26:29.365Z,1758399989.365 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:29.365Z,1758399989.365 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-09-20T20:26:29.366Z,1758399989.366 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=32.029289
2025-09-20T20:26:29.622Z,1758399989.622 [DAT](INFO): DAT read: Rx Time:20:26:32.0814
2025-09-20T20:26:29.623Z,1758399989.623 [DAT](INFO): Rx dataTimestamp_ set to:1758399989.623166
2025-09-20T20:26:29.626Z,1758399989.626 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:29.627Z,1758399989.627 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-09-20T20:26:29.629Z,1758399989.629 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.291836
2025-09-20T20:26:29.872Z,1758399989.872 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.535118
2025-09-20T20:26:30.126Z,1758399990.126 [DAT](INFO): DAT read: Rx Time:20:26:32.5813
2025-09-20T20:26:30.126Z,1758399990.126 [DAT](INFO): Rx dataTimestamp_ set to:1758399990.125821
2025-09-20T20:26:30.129Z,1758399990.129 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:30.130Z,1758399990.130 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-09-20T20:26:30.132Z,1758399990.132 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.793949
2025-09-20T20:26:30.376Z,1758399990.376 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=33.039230
2025-09-20T20:26:30.629Z,1758399990.629 [DAT](INFO): DAT read: Rx Time:20:26:33.0815
2025-09-20T20:26:30.630Z,1758399990.630 [DAT](INFO): Rx dataTimestamp_ set to:1758399990.629564
2025-09-20T20:26:30.632Z,1758399990.632 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:30.633Z,1758399990.633 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-09-20T20:26:30.634Z,1758399990.634 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.297188
2025-09-20T20:26:30.880Z,1758399990.880 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.543476
2025-09-20T20:26:31.133Z,1758399991.133 [DAT](INFO): DAT read: Rx Time:20:26:33.5814
2025-09-20T20:26:31.134Z,1758399991.134 [DAT](INFO): Rx dataTimestamp_ set to:1758399991.132986
2025-09-20T20:26:31.137Z,1758399991.137 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:31.138Z,1758399991.138 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-09-20T20:26:31.139Z,1758399991.139 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.802029
2025-09-20T20:26:31.384Z,1758399991.384 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=34.047104
2025-09-20T20:26:31.638Z,1758399991.638 [DAT](INFO): DAT read: Rx Time:20:26:34.0815
2025-09-20T20:26:31.638Z,1758399991.638 [DAT](INFO): Rx dataTimestamp_ set to:1758399991.637726
2025-09-20T20:26:31.640Z,1758399991.640 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:31.641Z,1758399991.641 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-09-20T20:26:31.642Z,1758399991.642 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.305573
2025-09-20T20:26:31.888Z,1758399991.888 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.551083
2025-09-20T20:26:32.141Z,1758399992.141 [DAT](INFO): DAT read: Rx Time:20:26:34.5814
2025-09-20T20:26:32.141Z,1758399992.141 [DAT](INFO): Rx dataTimestamp_ set to:1758399992.140817
2025-09-20T20:26:32.143Z,1758399992.143 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:32.144Z,1758399992.144 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-09-20T20:26:32.146Z,1758399992.146 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.808777
2025-09-20T20:26:32.392Z,1758399992.392 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=35.055214
2025-09-20T20:26:32.645Z,1758399992.645 [DAT](INFO): DAT read: Rx Time:20:26:35.0814
2025-09-20T20:26:32.646Z,1758399992.646 [DAT](INFO): Rx dataTimestamp_ set to:1758399992.645616
2025-09-20T20:26:32.648Z,1758399992.648 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:32.649Z,1758399992.649 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-09-20T20:26:32.650Z,1758399992.650 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.313068
2025-09-20T20:26:32.899Z,1758399992.899 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.561760
2025-09-20T20:26:33.148Z,1758399993.148 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-09-20T20:26:33.150Z,1758399993.150 [DAT](INFO): DAT read: Rx Time:20:26:35.5813
2025-09-20T20:26:33.150Z,1758399993.150 [DAT](INFO): Rx dataTimestamp_ set to:1758399993.149967
2025-09-20T20:26:33.152Z,1758399993.152 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:33.152Z,1758399993.152 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-09-20T20:26:33.153Z,1758399993.153 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.816154
2025-09-20T20:26:33.400Z,1758399993.400 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=36.063229
2025-09-20T20:26:33.652Z,1758399993.652 [DAT](INFO): DAT read: Rx Time:20:26:36.0814
2025-09-20T20:26:33.653Z,1758399993.653 [DAT](INFO): Rx dataTimestamp_ set to:1758399993.652422
2025-09-20T20:26:33.654Z,1758399993.654 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:33.654Z,1758399993.654 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-09-20T20:26:33.656Z,1758399993.656 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.318726
2025-09-20T20:26:33.904Z,1758399993.904 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.567116
2025-09-20T20:26:34.151Z,1758399994.151 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off
2025-09-20T20:26:34.156Z,1758399994.156 [DAT](INFO): DAT read: Rx Time:20:26:36.5814
2025-09-20T20:26:34.157Z,1758399994.157 [DAT](INFO): Rx dataTimestamp_ set to:1758399994.156362
2025-09-20T20:26:34.158Z,1758399994.158 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:34.158Z,1758399994.158 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-09-20T20:26:34.159Z,1758399994.159 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.822536
2025-09-20T20:26:34.409Z,1758399994.409 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=37.072433
2025-09-20T20:26:34.660Z,1758399994.660 [DAT](INFO): DAT read: Rx Time:20:26:37.0815
2025-09-20T20:26:34.661Z,1758399994.661 [DAT](INFO): Rx dataTimestamp_ set to:1758399994.660364
2025-09-20T20:26:34.662Z,1758399994.662 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:34.662Z,1758399994.662 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-09-20T20:26:34.663Z,1758399994.663 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.326550
2025-09-20T20:26:34.912Z,1758399994.912 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.575222
2025-09-20T20:26:35.165Z,1758399995.165 [DAT](INFO): DAT read: Rx Time:20:26:37.5814
2025-09-20T20:26:35.165Z,1758399995.165 [DAT](INFO): Rx dataTimestamp_ set to:1758399995.164710
2025-09-20T20:26:35.166Z,1758399995.166 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:35.167Z,1758399995.167 [DAT](ERROR): #Rx 74: Read range message, but no direction.
2025-09-20T20:26:35.168Z,1758399995.168 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.830906
2025-09-20T20:26:35.416Z,1758399995.416 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=38.079197
2025-09-20T20:26:35.669Z,1758399995.669 [DAT](INFO): DAT read: Rx Time:20:26:38.0815
2025-09-20T20:26:35.669Z,1758399995.669 [DAT](INFO): Rx dataTimestamp_ set to:1758399995.668904
2025-09-20T20:26:35.670Z,1758399995.670 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:35.671Z,1758399995.671 [DAT](ERROR): #Rx 75: Read range message, but no direction.
2025-09-20T20:26:35.672Z,1758399995.672 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.335075
2025-09-20T20:26:35.920Z,1758399995.920 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.583118
2025-09-20T20:26:36.172Z,1758399996.172 [DAT](INFO): DAT read: Rx Time:20:26:38.5814
2025-09-20T20:26:36.173Z,1758399996.173 [DAT](INFO): Rx dataTimestamp_ set to:1758399996.172391
2025-09-20T20:26:36.174Z,1758399996.174 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:36.174Z,1758399996.174 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-09-20T20:26:36.175Z,1758399996.175 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.838577
2025-09-20T20:26:36.424Z,1758399996.424 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=39.087162
2025-09-20T20:26:36.676Z,1758399996.676 [DAT](INFO): DAT read: Rx Time:20:26:39.0814
2025-09-20T20:26:36.677Z,1758399996.677 [DAT](INFO): Rx dataTimestamp_ set to:1758399996.676319
2025-09-20T20:26:36.678Z,1758399996.678 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:36.678Z,1758399996.678 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-09-20T20:26:36.679Z,1758399996.679 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.342503
2025-09-20T20:26:36.929Z,1758399996.929 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.592068
2025-09-20T20:26:37.180Z,1758399997.180 [DAT](INFO): DAT read: Rx Time:20:26:39.5813
2025-09-20T20:26:37.181Z,1758399997.181 [DAT](INFO): Rx dataTimestamp_ set to:1758399997.180303
2025-09-20T20:26:37.182Z,1758399997.182 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:37.182Z,1758399997.182 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-09-20T20:26:37.183Z,1758399997.183 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.846481
2025-09-20T20:26:37.436Z,1758399997.436 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=40.098930
2025-09-20T20:26:37.685Z,1758399997.685 [DAT](INFO): DAT read: Rx Time:20:26:40.0814
2025-09-20T20:26:37.685Z,1758399997.685 [DAT](INFO): Rx dataTimestamp_ set to:1758399997.684929
2025-09-20T20:26:37.687Z,1758399997.687 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:37.688Z,1758399997.688 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-09-20T20:26:37.689Z,1758399997.689 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.352257
2025-09-20T20:26:37.937Z,1758399997.937 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.599674
2025-09-20T20:26:38.188Z,1758399998.188 [DAT](INFO): DAT read: Rx Time:20:26:40.5814
2025-09-20T20:26:38.189Z,1758399998.189 [DAT](INFO): Rx dataTimestamp_ set to:1758399998.188342
2025-09-20T20:26:38.190Z,1758399998.190 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:38.190Z,1758399998.190 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-09-20T20:26:38.192Z,1758399998.192 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.855274
2025-09-20T20:26:38.440Z,1758399998.440 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=41.103088
2025-09-20T20:26:38.692Z,1758399998.692 [DAT](INFO): DAT read: Rx Time:20:26:41.0815
2025-09-20T20:26:38.693Z,1758399998.693 [DAT](INFO): Rx dataTimestamp_ set to:1758399998.692305
2025-09-20T20:26:38.694Z,1758399998.694 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:38.694Z,1758399998.694 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-09-20T20:26:38.695Z,1758399998.695 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.358494
2025-09-20T20:26:38.944Z,1758399998.944 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.607197
2025-09-20T20:26:39.196Z,1758399999.196 [DAT](INFO): DAT read: Rx Time:20:26:41.5814
2025-09-20T20:26:39.197Z,1758399999.197 [DAT](INFO): Rx dataTimestamp_ set to:1758399999.196328
2025-09-20T20:26:39.198Z,1758399999.198 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:39.198Z,1758399999.198 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-09-20T20:26:39.199Z,1758399999.199 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.862522
2025-09-20T20:26:39.448Z,1758399999.448 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=42.111122
2025-09-20T20:26:39.703Z,1758399999.703 [DAT](INFO): DAT read: Rx Time:20:26:42.0814
2025-09-20T20:26:39.703Z,1758399999.703 [DAT](INFO): Rx dataTimestamp_ set to:1758399999.702939
2025-09-20T20:26:39.704Z,1758399999.704 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:39.705Z,1758399999.705 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-09-20T20:26:39.706Z,1758399999.706 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.369011
2025-09-20T20:26:39.955Z,1758399999.955 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.617535
2025-09-20T20:26:40.204Z,1758400000.204 [DAT](INFO): DAT read: Rx Time:20:26:42.5813
2025-09-20T20:26:40.205Z,1758400000.205 [DAT](INFO): Rx dataTimestamp_ set to:1758400000.204323
2025-09-20T20:26:40.206Z,1758400000.206 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:40.206Z,1758400000.206 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-09-20T20:26:40.207Z,1758400000.207 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.870506
2025-09-20T20:26:40.456Z,1758400000.456 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=43.119179
2025-09-20T20:26:40.708Z,1758400000.708 [DAT](INFO): DAT read: Rx Time:20:26:43.0814
2025-09-20T20:26:40.709Z,1758400000.709 [DAT](INFO): Rx dataTimestamp_ set to:1758400000.708367
2025-09-20T20:26:40.710Z,1758400000.710 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:40.710Z,1758400000.710 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-09-20T20:26:40.711Z,1758400000.711 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.374565
2025-09-20T20:26:40.963Z,1758400000.963 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.625443
2025-09-20T20:26:41.215Z,1758400001.215 [DAT](INFO): DAT read: Rx Time:20:26:43.5814
2025-09-20T20:26:41.216Z,1758400001.216 [DAT](INFO): Rx dataTimestamp_ set to:1758400001.215592
2025-09-20T20:26:41.217Z,1758400001.217 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:41.218Z,1758400001.218 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-09-20T20:26:41.218Z,1758400001.218 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.881641
2025-09-20T20:26:41.464Z,1758400001.464 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=44.127048
2025-09-20T20:26:41.716Z,1758400001.716 [DAT](INFO): DAT read: Rx Time:20:26:44.0815
2025-09-20T20:26:41.717Z,1758400001.717 [DAT](INFO): Rx dataTimestamp_ set to:1758400001.716417
2025-09-20T20:26:41.718Z,1758400001.718 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:41.731Z,1758400001.731 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-09-20T20:26:41.732Z,1758400001.732 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.395546
2025-09-20T20:26:41.970Z,1758400001.970 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.632935
2025-09-20T20:26:42.220Z,1758400002.220 [DAT](INFO): DAT read: Rx Time:20:26:44.5814
2025-09-20T20:26:42.221Z,1758400002.221 [DAT](INFO): Rx dataTimestamp_ set to:1758400002.220502
2025-09-20T20:26:42.222Z,1758400002.222 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:42.223Z,1758400002.223 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-09-20T20:26:42.224Z,1758400002.224 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.886696
2025-09-20T20:26:42.472Z,1758400002.472 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=45.135212
2025-09-20T20:26:42.724Z,1758400002.724 [DAT](INFO): DAT read: Rx Time:20:26:45.0815
2025-09-20T20:26:42.725Z,1758400002.725 [DAT](INFO): Rx dataTimestamp_ set to:1758400002.724632
2025-09-20T20:26:42.726Z,1758400002.726 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:42.727Z,1758400002.727 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-09-20T20:26:42.728Z,1758400002.728 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.390774
2025-09-20T20:26:42.979Z,1758400002.979 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.641815
2025-09-20T20:26:43.228Z,1758400003.228 [DAT](INFO): DAT read: Rx Time:20:26:45.5814
2025-09-20T20:26:43.229Z,1758400003.229 [DAT](INFO): Rx dataTimestamp_ set to:1758400003.228448
2025-09-20T20:26:43.230Z,1758400003.230 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:43.230Z,1758400003.230 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-09-20T20:26:43.231Z,1758400003.231 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.894630
2025-09-20T20:26:43.480Z,1758400003.480 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=46.143112
2025-09-20T20:26:43.732Z,1758400003.732 [DAT](INFO): DAT read: Rx Time:20:26:46.0813
2025-09-20T20:26:43.733Z,1758400003.733 [DAT](INFO): Rx dataTimestamp_ set to:1758400003.732453
2025-09-20T20:26:43.734Z,1758400003.734 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:43.734Z,1758400003.734 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-09-20T20:26:43.735Z,1758400003.735 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.398624
2025-09-20T20:26:43.987Z,1758400003.987 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.649376
2025-09-20T20:26:44.236Z,1758400004.236 [DAT](INFO): DAT read: Rx Time:20:26:46.5812
2025-09-20T20:26:44.237Z,1758400004.237 [DAT](INFO): Rx dataTimestamp_ set to:1758400004.236346
2025-09-20T20:26:44.238Z,1758400004.238 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0
2025-09-20T20:26:44.238Z,1758400004.238 [DAT](ERROR): #Rx 92: Read range message, but no direction.
2025-09-20T20:26:44.240Z,1758400004.240 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.902645
2025-09-20T20:26:44.488Z,1758400004.488 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.151173
2025-09-20T20:26:44.740Z,1758400004.740 [DAT](INFO): DAT read: Rx Time:20:26:47.0814
2025-09-20T20:26:44.741Z,1758400004.741 [DAT](INFO): Rx dataTimestamp_ set to:1758400004.740366
2025-09-20T20:26:44.742Z,1758400004.742 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:44.742Z,1758400004.742 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-09-20T20:26:44.743Z,1758400004.743 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.406544
2025-09-20T20:26:44.995Z,1758400004.995 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.657574
2025-09-20T20:26:45.244Z,1758400005.244 [DAT](INFO): DAT read: Rx Time:20:26:47.5813
2025-09-20T20:26:45.245Z,1758400005.245 [DAT](INFO): Rx dataTimestamp_ set to:1758400005.244362
2025-09-20T20:26:45.246Z,1758400005.246 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:45.246Z,1758400005.246 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-09-20T20:26:45.247Z,1758400005.247 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.910542
2025-09-20T20:26:45.496Z,1758400005.496 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.158970
2025-09-20T20:26:45.749Z,1758400005.749 [DAT](INFO): DAT read: Rx Time:20:26:48.0814
2025-09-20T20:26:45.749Z,1758400005.749 [DAT](INFO): Rx dataTimestamp_ set to:1758400005.749009
2025-09-20T20:26:45.751Z,1758400005.751 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:45.752Z,1758400005.752 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-09-20T20:26:45.753Z,1758400005.753 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.416016
2025-09-20T20:26:46.003Z,1758400006.003 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.665165
2025-09-20T20:26:46.252Z,1758400006.252 [DAT](INFO): DAT read: Rx Time:20:26:48.5813
2025-09-20T20:26:46.253Z,1758400006.253 [DAT](INFO): Rx dataTimestamp_ set to:1758400006.252309
2025-09-20T20:26:46.254Z,1758400006.254 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:46.254Z,1758400006.254 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-09-20T20:26:46.255Z,1758400006.255 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.918465
2025-09-20T20:26:46.504Z,1758400006.504 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.167061
2025-09-20T20:26:46.757Z,1758400006.757 [DAT](INFO): DAT read: Rx Time:20:26:49.0814
2025-09-20T20:26:46.757Z,1758400006.757 [DAT](INFO): Rx dataTimestamp_ set to:1758400006.756997
2025-09-20T20:26:46.759Z,1758400006.759 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:46.760Z,1758400006.760 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-09-20T20:26:46.761Z,1758400006.761 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.424217
2025-09-20T20:26:47.011Z,1758400007.011 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.673496
2025-09-20T20:26:47.260Z,1758400007.260 [DAT](INFO): DAT read: Rx Time:20:26:49.5813
2025-09-20T20:26:47.261Z,1758400007.261 [DAT](INFO): Rx dataTimestamp_ set to:1758400007.260268
2025-09-20T20:26:47.262Z,1758400007.262 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:47.262Z,1758400007.262 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-09-20T20:26:47.263Z,1758400007.263 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.926418
2025-09-20T20:26:47.514Z,1758400007.514 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.176834
2025-09-20T20:26:47.766Z,1758400007.766 [DAT](INFO): DAT read: Rx Time:20:26:50.0813
2025-09-20T20:26:47.766Z,1758400007.766 [DAT](INFO): Rx dataTimestamp_ set to:1758400007.766052
2025-09-20T20:26:47.768Z,1758400007.768 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:47.769Z,1758400007.769 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-09-20T20:26:47.770Z,1758400007.770 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.433022
2025-09-20T20:26:48.016Z,1758400008.016 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=50.679214
2025-09-20T20:26:48.268Z,1758400008.268 [DAT](INFO): DAT read: Rx Time:20:26:50.5813
2025-09-20T20:26:48.269Z,1758400008.269 [DAT](INFO): Rx dataTimestamp_ set to:1758400008.268352
2025-09-20T20:26:48.270Z,1758400008.270 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:48.270Z,1758400008.270 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-09-20T20:26:48.271Z,1758400008.271 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.934536
2025-09-20T20:26:48.520Z,1758400008.520 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.183121
2025-09-20T20:26:48.773Z,1758400008.773 [DAT](INFO): DAT read: Rx Time:20:26:51.0814
2025-09-20T20:26:48.773Z,1758400008.773 [DAT](INFO): Rx dataTimestamp_ set to:1758400008.773133
2025-09-20T20:26:48.775Z,1758400008.775 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:48.776Z,1758400008.776 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-09-20T20:26:48.777Z,1758400008.777 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.440289
2025-09-20T20:26:49.027Z,1758400009.027 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=51.689045
2025-09-20T20:26:49.276Z,1758400009.276 [DAT](INFO): DAT read: Rx Time:20:26:51.5813
2025-09-20T20:26:49.276Z,1758400009.276 [DAT](INFO): Rx dataTimestamp_ set to:1758400009.276148
2025-09-20T20:26:49.278Z,1758400009.278 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:49.278Z,1758400009.278 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-09-20T20:26:49.279Z,1758400009.279 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=51.942299
2025-09-20T20:26:49.528Z,1758400009.528 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.191128
2025-09-20T20:26:49.781Z,1758400009.781 [DAT](INFO): DAT read: Rx Time:20:26:52.0814
2025-09-20T20:26:49.782Z,1758400009.782 [DAT](INFO): Rx dataTimestamp_ set to:1758400009.781128
2025-09-20T20:26:49.783Z,1758400009.783 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:49.784Z,1758400009.784 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-09-20T20:26:49.787Z,1758400009.787 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.449703
2025-09-20T20:26:50.032Z,1758400010.032 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.695015
2025-09-20T20:26:50.284Z,1758400010.284 [DAT](INFO): DAT read: Rx Time:20:26:52.5813
2025-09-20T20:26:50.285Z,1758400010.285 [DAT](INFO): Rx dataTimestamp_ set to:1758400010.284633
2025-09-20T20:26:50.286Z,1758400010.286 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:50.287Z,1758400010.287 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-09-20T20:26:50.288Z,1758400010.288 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=52.950813
2025-09-20T20:26:50.536Z,1758400010.536 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.199165
2025-09-20T20:26:50.788Z,1758400010.788 [DAT](INFO): DAT read: Rx Time:20:26:53.0814
2025-09-20T20:26:50.789Z,1758400010.789 [DAT](INFO): Rx dataTimestamp_ set to:1758400010.788686
2025-09-20T20:26:50.790Z,1758400010.790 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:50.791Z,1758400010.791 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-09-20T20:26:50.792Z,1758400010.792 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.454865
2025-09-20T20:26:51.040Z,1758400011.040 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=53.703266
2025-09-20T20:26:51.292Z,1758400011.292 [DAT](INFO): DAT read: Rx Time:20:26:53.5813
2025-09-20T20:26:51.293Z,1758400011.293 [DAT](INFO): Rx dataTimestamp_ set to:1758400011.292668
2025-09-20T20:26:51.294Z,1758400011.294 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:51.295Z,1758400011.295 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-09-20T20:26:51.296Z,1758400011.296 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=53.958855
2025-09-20T20:26:51.544Z,1758400011.544 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.207054
2025-09-20T20:26:51.796Z,1758400011.796 [DAT](INFO): DAT read: Rx Time:20:26:54.0814
2025-09-20T20:26:51.797Z,1758400011.797 [DAT](INFO): Rx dataTimestamp_ set to:1758400011.796441
2025-09-20T20:26:51.798Z,1758400011.798 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:51.798Z,1758400011.798 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-09-20T20:26:51.800Z,1758400011.800 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.462650
2025-09-20T20:26:52.048Z,1758400012.048 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=54.711143
2025-09-20T20:26:52.300Z,1758400012.300 [DAT](INFO): DAT read: Rx Time:20:26:54.5813
2025-09-20T20:26:52.301Z,1758400012.301 [DAT](INFO): Rx dataTimestamp_ set to:1758400012.300260
2025-09-20T20:26:52.302Z,1758400012.302 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:52.302Z,1758400012.302 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-09-20T20:26:52.303Z,1758400012.303 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=54.966442
2025-09-20T20:26:52.552Z,1758400012.552 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.215195
2025-09-20T20:26:52.804Z,1758400012.804 [DAT](INFO): DAT read: Rx Time:20:26:55.0814
2025-09-20T20:26:52.805Z,1758400012.805 [DAT](INFO): Rx dataTimestamp_ set to:1758400012.804357
2025-09-20T20:26:52.806Z,1758400012.806 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:52.806Z,1758400012.806 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-09-20T20:26:52.807Z,1758400012.807 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.470551
2025-09-20T20:26:53.057Z,1758400013.057 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=55.719521
2025-09-20T20:26:53.308Z,1758400013.308 [DAT](INFO): DAT read: Rx Time:20:26:55.5813
2025-09-20T20:26:53.309Z,1758400013.309 [DAT](INFO): Rx dataTimestamp_ set to:1758400013.308304
2025-09-20T20:26:53.310Z,1758400013.310 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:53.310Z,1758400013.310 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-09-20T20:26:53.311Z,1758400013.311 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=55.974487
2025-09-20T20:26:53.560Z,1758400013.560 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.223244
2025-09-20T20:26:53.812Z,1758400013.812 [DAT](INFO): DAT read: Rx Time:20:26:56.0814
2025-09-20T20:26:53.812Z,1758400013.812 [DAT](INFO): Rx dataTimestamp_ set to:1758400013.812221
2025-09-20T20:26:53.814Z,1758400013.814 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:53.814Z,1758400013.814 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-09-20T20:26:53.815Z,1758400013.815 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.478432
2025-09-20T20:26:54.064Z,1758400014.064 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=56.727112
2025-09-20T20:26:54.317Z,1758400014.317 [DAT](INFO): DAT read: Rx Time:20:26:56.5813
2025-09-20T20:26:54.318Z,1758400014.318 [DAT](INFO): Rx dataTimestamp_ set to:1758400014.317414
2025-09-20T20:26:54.319Z,1758400014.319 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:54.320Z,1758400014.320 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-09-20T20:26:54.320Z,1758400014.320 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=56.983612
2025-09-20T20:26:54.568Z,1758400014.568 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.231159
2025-09-20T20:26:54.820Z,1758400014.820 [DAT](INFO): DAT read: Rx Time:20:26:57.0814
2025-09-20T20:26:54.821Z,1758400014.821 [DAT](INFO): Rx dataTimestamp_ set to:1758400014.820325
2025-09-20T20:26:54.822Z,1758400014.822 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:54.822Z,1758400014.822 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-09-20T20:26:54.825Z,1758400014.825 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.486912
2025-09-20T20:26:55.073Z,1758400015.073 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=57.735855
2025-09-20T20:26:55.324Z,1758400015.324 [DAT](INFO): DAT read: Rx Time:20:26:57.5814
2025-09-20T20:26:55.325Z,1758400015.325 [DAT](INFO): Rx dataTimestamp_ set to:1758400015.324308
2025-09-20T20:26:55.326Z,1758400015.326 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:55.326Z,1758400015.326 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-09-20T20:26:55.327Z,1758400015.327 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=57.990524
2025-09-20T20:26:55.577Z,1758400015.577 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.240200
2025-09-20T20:26:55.828Z,1758400015.828 [DAT](INFO): DAT read: Rx Time:20:26:58.0814
2025-09-20T20:26:55.829Z,1758400015.829 [DAT](INFO): Rx dataTimestamp_ set to:1758400015.828582
2025-09-20T20:26:55.830Z,1758400015.830 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:55.831Z,1758400015.831 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-09-20T20:26:55.832Z,1758400015.832 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.494766
2025-09-20T20:26:56.081Z,1758400016.081 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=58.743931
2025-09-20T20:26:56.333Z,1758400016.333 [DAT](INFO): DAT read: Rx Time:20:26:58.5813
2025-09-20T20:26:56.334Z,1758400016.334 [DAT](INFO): Rx dataTimestamp_ set to:1758400016.333335
2025-09-20T20:26:56.335Z,1758400016.335 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:56.336Z,1758400016.336 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-09-20T20:26:56.336Z,1758400016.336 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=58.999538
2025-09-20T20:26:56.585Z,1758400016.585 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.247757
2025-09-20T20:26:56.836Z,1758400016.836 [DAT](INFO): DAT read: Rx Time:20:26:59.0814
2025-09-20T20:26:56.837Z,1758400016.837 [DAT](INFO): Rx dataTimestamp_ set to:1758400016.836358
2025-09-20T20:26:56.838Z,1758400016.838 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:56.838Z,1758400016.838 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-09-20T20:26:56.839Z,1758400016.839 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.502529
2025-09-20T20:26:57.089Z,1758400017.089 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=59.752060
2025-09-20T20:26:57.340Z,1758400017.340 [DAT](INFO): DAT read: Rx Time:20:26:59.5813
2025-09-20T20:26:57.341Z,1758400017.341 [DAT](INFO): Rx dataTimestamp_ set to:1758400017.340296
2025-09-20T20:26:57.342Z,1758400017.342 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:57.342Z,1758400017.342 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-09-20T20:26:57.343Z,1758400017.343 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.006504
2025-09-20T20:26:57.592Z,1758400017.592 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.255161
2025-09-20T20:26:57.844Z,1758400017.844 [DAT](INFO): DAT read: Rx Time:20:27:00.0814
2025-09-20T20:26:57.845Z,1758400017.845 [DAT](INFO): Rx dataTimestamp_ set to:1758400017.844442
2025-09-20T20:26:57.846Z,1758400017.846 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:57.846Z,1758400017.846 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-09-20T20:26:57.847Z,1758400017.847 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.510624
2025-09-20T20:26:58.097Z,1758400018.097 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=60.759983
2025-09-20T20:26:58.349Z,1758400018.349 [DAT](INFO): DAT read: Rx Time:20:27:00.5813
2025-09-20T20:26:58.349Z,1758400018.349 [DAT](INFO): Rx dataTimestamp_ set to:1758400018.348900
2025-09-20T20:26:58.351Z,1758400018.351 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0
2025-09-20T20:26:58.352Z,1758400018.352 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-09-20T20:26:58.353Z,1758400018.353 [DAT](INFO): ****** received valid address query ******
2025-09-20T20:26:58.353Z,1758400018.353 [DAT](INFO): ****** received valid ping request ******
2025-09-20T20:26:58.353Z,1758400018.353 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:26:58.600Z,1758400018.600 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:26:58.852Z,1758400018.852 [DAT](INFO): DAT read: Rx Time:20:27:01.0815
2025-09-20T20:26:58.853Z,1758400018.853 [DAT](INFO): Rx dataTimestamp_ set to:1758400018.852390
2025-09-20T20:26:58.854Z,1758400018.854 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0
2025-09-20T20:26:58.854Z,1758400018.854 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:26:58.855Z,1758400018.855 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:26:58.855Z,1758400018.855 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:26:59.106Z,1758400019.106 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:26:59.356Z,1758400019.356 [DAT](INFO): DAT read: Rx Time:20:27:01.5814
2025-09-20T20:26:59.357Z,1758400019.357 [DAT](INFO): Rx dataTimestamp_ set to:1758400019.356322
2025-09-20T20:26:59.358Z,1758400019.358 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0
2025-09-20T20:26:59.358Z,1758400019.358 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:26:59.359Z,1758400019.359 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:26:59.359Z,1758400019.359 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:26:59.608Z,1758400019.608 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:26:59.860Z,1758400019.860 [DAT](INFO): DAT read: user:258>
2025-09-20T20:26:59.861Z,1758400019.861 [DAT](INFO): DAT read: Tx time:20:27:02.4994
2025-09-20T20:26:59.861Z,1758400019.861 [DAT](INFO): Ping request sent.
2025-09-20T20:26:59.861Z,1758400019.861 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:26:59.861Z,1758400019.861 [DAT](INFO): publishing transmit ping time
2025-09-20T20:26:59.862Z,1758400019.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-09-20T20:27:00.112Z,1758400020.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250965
2025-09-20T20:27:00.364Z,1758400020.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503003
2025-09-20T20:27:00.616Z,1758400020.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755393
2025-09-20T20:27:00.868Z,1758400020.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954
2025-09-20T20:27:01.122Z,1758400021.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261215
2025-09-20T20:27:01.372Z,1758400021.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510814
2025-09-20T20:27:01.624Z,1758400021.624 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763151
2025-09-20T20:27:01.876Z,1758400021.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015119
2025-09-20T20:27:02.128Z,1758400022.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266871
2025-09-20T20:27:02.380Z,1758400022.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519251
2025-09-20T20:27:02.632Z,1758400022.632 [DAT](INFO): DAT read: Rx Time:20:27:04.9054
2025-09-20T20:27:02.633Z,1758400022.633 [DAT](INFO): Rx dataTimestamp_ set to:1758400022.632432
2025-09-20T20:27:02.633Z,1758400022.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772264
2025-09-20T20:27:02.884Z,1758400022.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022937
2025-09-20T20:27:03.137Z,1758400023.137 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (Round-trip 1.9 ms) speed 0.0 m/s
2025-09-20T20:27:03.137Z,1758400023.137 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:27:28.954Z,1758400048.954 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -31, -2, +E, -31, -2, +0,A
2025-09-20T20:28:17.044Z,1758400097.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:28:17.288Z,1758400097.288 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:28:17.288Z,1758400097.288 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:28:17.540Z,1758400097.540 [DAT](INFO): DAT read: user:259>
2025-09-20T20:28:17.541Z,1758400097.541 [DAT](INFO): DAT read: Tx time:20:28:20.1991
2025-09-20T20:28:17.541Z,1758400097.541 [DAT](INFO): Ping request sent.
2025-09-20T20:28:17.541Z,1758400097.541 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:28:17.541Z,1758400097.541 [DAT](INFO): publishing transmit ping time
2025-09-20T20:28:17.542Z,1758400097.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732
2025-09-20T20:28:17.792Z,1758400097.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251002
2025-09-20T20:28:18.044Z,1758400098.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502750
2025-09-20T20:28:18.297Z,1758400098.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755513
2025-09-20T20:28:18.548Z,1758400098.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006772
2025-09-20T20:28:18.800Z,1758400098.800 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258800
2025-09-20T20:28:19.052Z,1758400099.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510977
2025-09-20T20:28:19.304Z,1758400099.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762744
2025-09-20T20:28:19.556Z,1758400099.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889
2025-09-20T20:28:19.808Z,1758400099.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266832
2025-09-20T20:28:20.060Z,1758400100.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518794
2025-09-20T20:28:20.317Z,1758400100.317 [DAT](INFO): DAT read: Rx Time:20:28:22.6051
2025-09-20T20:28:20.317Z,1758400100.317 [DAT](INFO): Rx dataTimestamp_ set to:1758400100.317107
2025-09-20T20:28:20.318Z,1758400100.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776882
2025-09-20T20:28:20.568Z,1758400100.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026867
2025-09-20T20:28:20.822Z,1758400100.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280752
2025-09-20T20:28:21.073Z,1758400101.073 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (Round-trip 1.9 ms) speed 0.0 m/s
2025-09-20T20:28:21.074Z,1758400101.074 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:28:44.111Z,1758400124.111 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for beam range. Device response is::RA, 0.18, 77.86, 79.22
2025-09-20T20:30:17.457Z,1758400217.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-09-20T20:30:17.564Z,1758400217.564 [DAT](DEBUG): Acoustic response timeout
2025-09-20T20:30:17.564Z,1758400217.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-09-20T20:30:17.816Z,1758400217.816 [DAT](INFO): DAT read: user:260>
2025-09-20T20:30:17.817Z,1758400217.817 [DAT](INFO): DAT read: Tx time:20:30:20.4486
2025-09-20T20:30:17.817Z,1758400217.817 [DAT](INFO): Ping request sent.
2025-09-20T20:30:17.817Z,1758400217.817 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:30:17.817Z,1758400217.817 [DAT](INFO): publishing transmit ping time
2025-09-20T20:30:17.818Z,1758400217.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726
2025-09-20T20:30:18.068Z,1758400218.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864
2025-09-20T20:30:18.321Z,1758400218.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503465
2025-09-20T20:30:18.572Z,1758400218.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754798
2025-09-20T20:30:18.824Z,1758400218.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006963
2025-09-20T20:30:19.076Z,1758400219.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258869
2025-09-20T20:30:19.328Z,1758400219.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510982
2025-09-20T20:30:19.580Z,1758400219.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762874
2025-09-20T20:30:19.832Z,1758400219.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014793
2025-09-20T20:30:20.084Z,1758400220.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266834
2025-09-20T20:30:20.342Z,1758400220.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524647
2025-09-20T20:30:20.592Z,1758400220.592 [DAT](INFO): DAT read: Rx Time:20:30:22.8546
2025-09-20T20:30:20.592Z,1758400220.592 [DAT](INFO): Rx dataTimestamp_ set to:1758400220.592185
2025-09-20T20:30:20.593Z,1758400220.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775896
2025-09-20T20:30:20.844Z,1758400220.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026842
2025-09-20T20:30:21.097Z,1758400221.097 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (Round-trip 1.9 ms) speed 0.0 m/s
2025-09-20T20:30:21.098Z,1758400221.098 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-09-20T20:31:09.147Z,1758400269.147 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0003280018547811.2, 0.0,1494.4,A, 0.00, 78.54, 79.22, 77.86, 77.86
2025-09-20T20:31:18.461Z,1758400278.461 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-09-20T20:26:18.3Z
2025-09-20T20:31:18.462Z,1758400278.462 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-09-20T20:31:18.462Z,1758400278.462 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-09-20T20:31:18.462Z,1758400278.462 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-09-20T20:31:18.462Z,1758400278.462 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-09-20T20:31:18.843Z,1758400278.843 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-09-20T20:31:18.843Z,1758400278.843 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-09-20T20:31:18.843Z,1758400278.843 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-09-20T20:31:18.843Z,1758400278.843 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-09-20T20:31:18.843Z,1758400278.843 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-09-20T20:31:18.843Z,1758400278.843 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-09-20T20:31:19.263Z,1758400279.263 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-09-20T20:31:19.264Z,1758400279.264 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-09-20T20:31:19.264Z,1758400279.264 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-09-20T20:31:19.264Z,1758400279.264 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-09-20T20:31:19.657Z,1758400279.657 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-09-20T20:31:19.658Z,1758400279.658 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-09-20T20:31:20.114Z,1758400280.114 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-09-20T20:31:20.114Z,1758400280.114 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-09-20T20:31:20.114Z,1758400280.114 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-09-20T20:31:20.114Z,1758400280.114 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-09-20T20:31:20.114Z,1758400280.114 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-09-20T20:31:20.115Z,1758400280.115 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-09-20T20:31:20.115Z,1758400280.115 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-09-20T20:31:20.115Z,1758400280.115 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-09-20T20:31:20.116Z,1758400280.116 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-09-20T20:31:20.116Z,1758400280.116 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-09-20T20:31:20.116Z,1758400280.116 [lineCaptureHoming:Lap:Docked] Stopped
2025-09-20T20:31:20.116Z,1758400280.116 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-09-20T20:31:20.117Z,1758400280.117 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-09-20T20:31:20.117Z,1758400280.117 [lineCaptureHoming:Lap] Stopped
2025-09-20T20:31:20.117Z,1758400280.117 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-09-20T20:31:20.121Z,1758400280.121 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-09-20T20:31:20.121Z,1758400280.121 [MissionManager](INFO): lineCaptureHoming is completed.
2025-09-20T20:31:20.121Z,1758400280.121 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science:B] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science:C] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science:E] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-09-20T20:31:20.122Z,1758400280.122 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:TrackAC.] Stopped
2025-09-20T20:31:20.123Z,1758400280.123 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-09-20T20:31:20.147Z,1758400280.147 [WetLabsBB2FL](INFO): Powering down
2025-09-20T20:31:20.192Z,1758400280.192 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl
2025-09-20T20:31:20.407Z,1758400280.407 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-09-20T20:31:20.408Z,1758400280.408 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-09-20T20:31:20.414Z,1758400280.414 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-09-20T20:31:20.620Z,1758400280.620 [DAT](INFO): DAT read: user:261>
2025-09-20T20:31:20.621Z,1758400280.621 [DAT](INFO): DAT read: Tx time:20:31:23.2474
2025-09-20T20:31:20.621Z,1758400280.621 [DAT](INFO): Ping request sent.
2025-09-20T20:31:20.621Z,1758400280.621 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:31:20.621Z,1758400280.621 [DAT](INFO): publishing transmit ping time
2025-09-20T20:31:22.892Z,1758400282.892 [DAT](INFO): DAT read: Rx Time:20:31:25.1508
2025-09-20T20:31:22.893Z,1758400282.893 [DAT](INFO): Rx dataTimestamp_ set to:1758400282.892238
2025-09-20T20:31:23.396Z,1758400283.396 [DAT](INFO): DAT read: OK
2025-09-20T20:31:23.396Z,1758400283.396 [DAT](INFO): unknown deviceResponse_: OK
2025-09-20T20:31:23.397Z,1758400283.397 [DAT](INFO): DAT read: user:262>
2025-09-20T20:31:23.648Z,1758400283.648 [DAT](INFO): DAT read: Tx time:20:31:26.2474
2025-09-20T20:31:23.648Z,1758400283.648 [DAT](INFO): Ping request sent.
2025-09-20T20:31:23.648Z,1758400283.648 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:31:23.649Z,1758400283.649 [DAT](INFO): publishing transmit ping time
2025-09-20T20:31:25.220Z,1758400285.220 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
8
2
1
5
2
2
5
5
Restarting logs
restart logs
! ifconfig
Mission ending, breaking off. Range:
.
2025-09-20T20:31:25.228Z,1758400285.228 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-09-20T20:31:25.232Z,1758400285.232 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-09-20T20:31:25.264Z,1758400285.264 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-09-20T20:31:25.268Z,1758400285.268 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-09-20T20:31:25.272Z,1758400285.272 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-09-20T20:31:25.276Z,1758400285.276 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-09-20T20:31:25.280Z,1758400285.280 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-09-20T20:31:25.337Z,1758400285.337 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-09-20T20:31:25.346Z,1758400285.346 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-09-20T20:31:25.365Z,1758400285.365 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-09-20T20:31:25.374Z,1758400285.374 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-09-20T20:31:25.424Z,1758400285.424 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-09-20T20:31:25.440Z,1758400285.440 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-09-20T20:31:25.441Z,1758400285.441 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-09-20T20:31:25.441Z,1758400285.441 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-09-20T20:31:25.442Z,1758400285.442 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-09-20T20:31:25.594Z,1758400285.594 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
5
1.5
200
2000
2025-09-20T20:31:25.600Z,1758400285.600 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-09-20T20:31:25.604Z,1758400285.604 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-09-20T20:31:25.608Z,1758400285.608 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-09-20T20:31:25.620Z,1758400285.620 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-09-20T20:31:25.621Z,1758400285.621 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-09-20T20:31:25.647Z,1758400285.647 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-09-20T20:31:25.676Z,1758400285.676 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-09-20T20:31:25.736Z,1758400285.736 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-09-20T20:31:25.736Z,1758400285.736 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-09-20T20:31:25.737Z,1758400285.737 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-09-20T20:31:25.800Z,1758400285.800 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
2025-09-20T20:31:25.818Z,1758400285.818 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-09-20T20:31:25.824Z,1758400285.824 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-09-20T20:31:25.832Z,1758400285.832 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-09-20T20:31:25.832Z,1758400285.832 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-09-20T20:31:25.833Z,1758400285.833 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-09-20T20:31:25.916Z,1758400285.916 [DAT](INFO): DAT read: Rx Time:20:31:28.1508
2025-09-20T20:31:25.917Z,1758400285.917 [DAT](INFO): Rx dataTimestamp_ set to:1758400285.916258
2025-09-20T20:31:26.025Z,1758400286.025 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
99999
2025-09-20T20:31:26.047Z,1758400286.047 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-09-20T20:31:26.055Z,1758400286.055 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-09-20T20:31:26.059Z,1758400286.059 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-09-20T20:31:26.066Z,1758400286.066 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-09-20T20:31:26.079Z,1758400286.079 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-09-20T20:31:26.142Z,1758400286.142 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-09-20T20:31:26.190Z,1758400286.190 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-09-20T20:31:26.194Z,1758400286.194 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-09-20T20:31:26.194Z,1758400286.194 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-09-20T20:31:26.211Z,1758400286.211 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-09-20T20:31:26.420Z,1758400286.420 [DAT](INFO): DAT read: OK
2025-09-20T20:31:26.420Z,1758400286.420 [DAT](INFO): unknown deviceResponse_: OK
2025-09-20T20:31:26.420Z,1758400286.420 [DAT](INFO): DAT read: user:263>
2025-09-20T20:31:26.421Z,1758400286.421 [DAT](INFO): DAT read: Tx time:20:31:29.2473
2025-09-20T20:31:26.421Z,1758400286.421 [DAT](INFO): Ping request sent.
2025-09-20T20:31:26.422Z,1758400286.422 [DAT](INFO): transmitted an acoustic signal
2025-09-20T20:31:26.422Z,1758400286.422 [DAT](INFO): publishing transmit ping time
2025-09-20T20:31:28.940Z,1758400288.940 [DAT](INFO): DAT read: Rx Time:20:31:31.1508
2025-09-20T20:31:28.941Z,1758400288.941 [DAT](INFO): Rx dataTimestamp_ set to:1758400288.940263
2025-09-20T20:31:29.444Z,1758400289.444 [DAT](INFO): DAT read: OK
2025-09-20T20:31:29.445Z,1758400289.445 [DAT](INFO): unknown deviceResponse_: OK
2025-09-20T20:31:30.330Z,1758400290.330 [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).
2025-09-20T20:31:30.358Z,1758400290.358 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-09-20T20:31:30.361Z,1758400290.361 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-09-20T20:31:30.410Z,1758400290.410 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-09-20T20:31:30.442Z,1758400290.442 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-09-20T20:31:30.464Z,1758400290.464 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-09-20T20:31:30.472Z,1758400290.472 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-09-20T20:31:30.480Z,1758400290.480 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-09-20T20:31:30.492Z,1758400290.492 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-09-20T20:31:30.497Z,1758400290.497 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-09-20T20:31:30.509Z,1758400290.509 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-09-20T20:31:30.528Z,1758400290.528 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-09-20T20:31:30.535Z,1758400290.535 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-09-20T20:31:30.543Z,1758400290.543 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-09-20T20:31:30.587Z,1758400290.587 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-09-20T20:31:30.591Z,1758400290.591 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-20T20:31:30.602Z,1758400290.602 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-09-20T20:31:30.614Z,1758400290.614 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-20T20:31:30.626Z,1758400290.626 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-09-20T20:31:30.638Z,1758400290.638 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-09-20T20:31:30.646Z,1758400290.646 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-09-20T20:31:30.661Z,1758400290.661 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-20T20:31:30.666Z,1758400290.666 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-09-20T20:31:30.690Z,1758400290.690 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-09-20T20:31:30.698Z,1758400290.698 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-09-20T20:31:30.711Z,1758400290.711 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-09-20T20:31:30.717Z,1758400290.717 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-09-20T20:31:30.729Z,1758400290.729 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-09-20T20:31:30.734Z,1758400290.734 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-09-20T20:31:30.755Z,1758400290.755 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-09-20T20:31:30.764Z,1758400290.764 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-09-20T20:31:30.772Z,1758400290.772 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-09-20T20:31:30.788Z,1758400290.788 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-09-20T20:31:30.792Z,1758400290.792 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-09-20T20:31:30.804Z,1758400290.804 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-09-20T20:31:30.809Z,1758400290.809 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-09-20T20:31:30.825Z,1758400290.825 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-09-20T20:31:30.829Z,1758400290.829 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-09-20T20:31:30.841Z,1758400290.841 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-09-20T20:31:30.846Z,1758400290.846 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-09-20T20:31:30.858Z,1758400290.858 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-09-20T20:31:30.866Z,1758400290.866 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-09-20T20:31:30.874Z,1758400290.874 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-09-20T20:31:30.882Z,1758400290.882 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-09-20T20:31:30.890Z,1758400290.890 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-09-20T20:31:30.902Z,1758400290.902 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-09-20T20:31:30.910Z,1758400290.910 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-09-20T20:31:30.918Z,1758400290.918 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-09-20T20:31:30.931Z,1758400290.931 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-09-20T20:31:30.939Z,1758400290.939 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-09-20T20:31:30.983Z,1758400290.983 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-09-20T20:31:30.997Z,1758400290.997 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-09-20T20:31:31.016Z,1758400291.016 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-09-20T20:31:31.021Z,1758400291.021 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-09-20T20:31:31.045Z,1758400291.045 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-09-20T20:31:31.050Z,1758400291.050 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-09-20T20:31:31.063Z,1758400291.063 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-09-20T20:31:31.075Z,1758400291.075 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-09-20T20:31:31.083Z,1758400291.083 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-09-20T20:31:31.091Z,1758400291.091 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-09-20T20:31:31.096Z,1758400291.096 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-09-20T20:31:31.110Z,1758400291.110 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-09-20T20:31:31.127Z,1758400291.127 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-09-20T20:31:31.135Z,1758400291.135 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-09-20T20:31:31.142Z,1758400291.142 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-09-20T20:31:31.147Z,1758400291.147 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-09-20T20:31:31.155Z,1758400291.155 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-09-20T20:31:31.167Z,1758400291.167 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-09-20T20:31:31.177Z,1758400291.177 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-09-20T20:31:31.182Z,1758400291.182 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-09-20T20:31:31.226Z,1758400291.226 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-09-20T20:31:31.257Z,1758400291.257 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-09-20T20:31:31.275Z,1758400291.275 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-09-20T20:31:31.284Z,1758400291.284 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-09-20T20:31:31.290Z,1758400291.290 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-09-20T20:31:31.294Z,1758400291.294 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-09-20T20:31:31.302Z,1758400291.302 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-09-20T20:31:31.314Z,1758400291.314 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-09-20T20:31:31.318Z,1758400291.318 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-09-20T20:31:31.326Z,1758400291.326 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-09-20T20:31:31.335Z,1758400291.335 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-09-20T20:31:31.347Z,1758400291.347 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-09-20T20:31:31.352Z,1758400291.352 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-09-20T20:31:31.392Z,1758400291.392 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-09-20T20:31:31.408Z,1758400291.408 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-09-20T20:31:31.417Z,1758400291.417 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-09-20T20:31:31.438Z,1758400291.438 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-09-20T20:31:31.459Z,1758400291.459 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-09-20T20:31:31.470Z,1758400291.470 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-09-20T20:31:31.495Z,1758400291.495 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-09-20T20:31:31.503Z,1758400291.503 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-09-20T20:31:31.513Z,1758400291.513 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-09-20T20:31:31.517Z,1758400291.517 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-09-20T20:31:31.533Z,1758400291.533 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-09-20T20:31:31.537Z,1758400291.537 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-09-20T20:31:31.542Z,1758400291.542 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-09-20T20:31:31.554Z,1758400291.554 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-09-20T20:31:31.566Z,1758400291.566 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-09-20T20:31:31.582Z,1758400291.582 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-09-20T20:31:31.595Z,1758400291.595 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-09-20T20:31:31.607Z,1758400291.607 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-09-20T20:31:31.615Z,1758400291.615 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-09-20T20:31:31.624Z,1758400291.624 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-09-20T20:31:31.684Z,1758400291.684 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-09-20T20:31:31.694Z,1758400291.694 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-09-20T20:31:31.712Z,1758400291.712 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-09-20T20:31:31.721Z,1758400291.721 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-09-20T20:31:31.726Z,1758400291.726 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-09-20T20:31:31.752Z,1758400291.752 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-09-20T20:31:31.757Z,1758400291.757 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-09-20T20:31:31.793Z,1758400291.793 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-20T20:31:31.809Z,1758400291.809 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-20T20:31:31.821Z,1758400291.821 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-09-20T20:31:31.833Z,1758400291.833 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-09-20T20:31:31.838Z,1758400291.838 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-09-20T20:31:31.863Z,1758400291.863 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-09-20T20:31:31.872Z,1758400291.872 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-09-20T20:31:31.876Z,1758400291.876 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-09-20T20:31:31.888Z,1758400291.888 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-09-20T20:31:31.893Z,1758400291.893 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-09-20T20:31:31.928Z,1758400291.928 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-09-20T20:31:31.932Z,1758400291.932 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-09-20T20:31:31.948Z,1758400291.948 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-09-20T20:31:31.957Z,1758400291.957 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-09-20T20:31:31.971Z,1758400291.971 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-09-20T20:31:31.980Z,1758400291.980 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-09-20T20:31:31.984Z,1758400291.984 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-09-20T20:31:32.000Z,1758400292.000 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-09-20T20:31:32.006Z,1758400292.006 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-09-20T20:31:32.031Z,1758400292.031 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-09-20T20:31:32.039Z,1758400292.039 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-09-20T20:31:32.071Z,1758400292.071 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-09-20T20:31:32.079Z,1758400292.079 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-09-20T20:31:32.084Z,1758400292.084 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-09-20T20:31:32.143Z,1758400292.143 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.230Z,1758400292.230 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T20:31:32.355Z,1758400292.355 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-20T20:31:32.394Z,1758400292.394 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.428Z,1758400292.428 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.456Z,1758400292.456 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-20T20:31:32.488Z,1758400292.488 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.527Z,1758400292.527 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.552Z,1758400292.552 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-09-20T20:31:32.608Z,1758400292.608 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.646Z,1758400292.646 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T20:31:32.718Z,1758400292.718 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.757Z,1758400292.757 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T20:31:32.809Z,1758400292.809 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.847Z,1758400292.847 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T20:31:32.916Z,1758400292.916 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-09-20T20:31:32.942Z,1758400292.942 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-09-20T20:31:33.049Z,1758400293.049 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-09-20T20:31:33.134Z,1758400293.134 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-09-20T20:31:33.142Z,1758400293.142 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-09-20T20:31:33.148Z,1758400293.148 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-09-20T20:31:33.150Z,1758400293.150 [OnDock:N.Docked](DEBUG): Construct.
2025-09-20T20:31:33.150Z,1758400293.150 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-09-20T20:31:33.195Z,1758400293.195 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-09-20T20:31:33.195Z,1758400293.195 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-09-20T20:31:33.363Z,1758400293.363 [MissionManager](DEBUG):
# Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission {
"""
Wait on dock, communicating when possible
"""
arguments {
DockedTime = 8 hour
"""
Time to stay on dock. Mission timeout will be five minutes longer.
"""
DetachedTimeout = Dock:Docked.detachTimeout
"""
Time duration limit for determining if the vehicle is detached from the
dock.
"""
RangeTimeout = Dock:Docked.rangeTimeout
"""
Maximum allowed time without acoustic range.
"""
TrackingUpdatePeriod = 2 minute
"""
How long to wait between acoustic queries.
"""
NumberOfPings = 1 count
"""
Number of pings requested each time.
"""
TransponderCode = Dock:Dock.transponderCode
"""
Transponder Address.
"""
MaxDepth = BIT:CBIT.stopDepth
"""
Maximum depth while docked.
"""
MinAltitude = 5 meter
"""
Minimum altitude
"""
MinOffshore = 2 km
"""
Minimum offshore
"""
StayOnDock = false
"""
If true, don't detach from dock at end of mission
"""
IfconfigInterval = 2 hour
"""
How long to wait between ifconfig runs
"""
RunScience = false
"""
If true, run Science while on the dock.
"""
# Mission variables (do not change)
MissionTimeout = DockedTime
"""
Mission timeout (local variable, do not change)
"""
}
timeout duration=MissionTimeout
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
# End docking 5 minutes before end of mission to allow clean undock
assign in sequence MissionTimeout = DockedTime + 5 minute
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
# Send data when connection exists
aggregate dataRead {
run while ( true )
readDatum {
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = 5 minute
}
}
aggregate science {
run in parallel
break if ( not RunScience )
insert Insert/Science.tl
}
behavior Estimation:TrackAcousticContact {
run in parallel
set contactLabelSetting = TransponderCode
set numberOfSamplesSetting = NumberOfPings
set updatePeriodSetting = TrackingUpdatePeriod
}
syslog important "Restarting logs"
behavior Guidance:Execute {
run in sequence
set command = "restart logs"
}
aggregate PeriodicCheck {
run in parallel
aggregate CheckIP {
run in sequence
behavior Guidance:Execute {
run in sequence
set command = "! ifconfig"
}
behavior Guidance:Wait {
run in sequence
set duration = IfconfigInterval
}
}
}
behavior Dock:Docked {
run in sequence
timeout duration=DockedTime
set detachTimeout = DetachedTimeout
set rangeTimeout = RangeTimeout
}
# Undock cleanly, instead of relying on DefaultWithUndock to come next
aggregate Detach {
run in sequence
break if ( StayOnDock == true )
syslog important "Mission ending, breaking off. Range: "
+ Estimation:TrackAcousticContact.range_to_contact~meter + "."
behavior Dock:Undock {
run in sequence
}
}
}
2025-09-20T20:31:33.364Z,1758400293.364 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock
2025-09-20T20:31:33.462Z,1758400293.462 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2025-09-20T20:31:33.462Z,1758400293.462 [DefaultWithUndock] Running Loop=1
2025-09-20T20:31:33.462Z,1758400293.462 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2025-09-20T20:31:33.462Z,1758400293.462 [DefaultWithUndock:A.Wait] Running Loop=1
2025-09-20T20:31:33.462Z,1758400293.462 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2025-09-20T20:31:50.012Z,1758400310.012 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 10 minute
2025-09-20T20:31:50.013Z,1758400310.013 [CommandExec](IMPORTANT): got command set OnDock.RangeTimeout 20 minute
2025-09-20T20:31:50.014Z,1758400310.014 [CommandExec](IMPORTANT): got command set OnDock.StayOnDock 1 bool
2025-09-20T20:31:50.015Z,1758400310.015 [CommandExec](IMPORTANT): got command set OnDock.RunScience 1 bool
2025-09-20T20:31:50.016Z,1758400310.016 [CommandExec](IMPORTANT): got command run
2025-09-20T20:31:50.021Z,1758400310.021 [CommandExec](IMPORTANT): Running
2025-09-20T20:31:50.438Z,1758400310.438 [DefaultWithUndock] Stopped
2025-09-20T20:31:50.438Z,1758400310.438 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2025-09-20T20:31:50.439Z,1758400310.439 [DefaultWithUndock:A.Wait] Stopped
2025-09-20T20:31:50.439Z,1758400310.439 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2025-09-20T20:31:50.440Z,1758400310.440 [MissionManager](IMPORTANT): Started mission OnDock
2025-09-20T20:31:50.440Z,1758400310.440 [OnDock] Running Loop=1
2025-09-20T20:31:50.440Z,1758400310.440 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-09-20T20:31:50.440Z,1758400310.440 [OnDock:StandardEnvelopes] Running Loop=1
2025-09-20T20:31:50.440Z,1758400310.440 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-09-20T20:31:50.440Z,1758400310.440 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-20T20:31:50.440Z,1758400310.440 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:BackseatDriver] Running Loop=1
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:PowerOnly] Running Loop=1
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:PowerOnly:A] Running Loop=1
2025-09-20T20:31:50.441Z,1758400310.441 [OnDock:PowerOnly:B] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:PowerOnly:C] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:PowerOnly:D] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:dataRead] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:dataRead:A] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:science] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:science:Science] Running Loop=1
2025-09-20T20:31:50.442Z,1758400310.442 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:A] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:B] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:C] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:D] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:E] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:F] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-09-20T20:31:50.443Z,1758400310.443 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-09-20T20:31:50.444Z,1758400310.444 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-09-20T20:31:50.444Z,1758400310.444 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-09-20T20:31:50.444Z,1758400310.444 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-09-20T20:31:50.444Z,1758400310.444 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-09-20T20:31:50.444Z,1758400310.444 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-09-20T20:31:50.445Z,1758400310.445 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-20T20:31:50.445Z,1758400310.445 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-20T20:31:50.445Z,1758400310.445 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-09-20T20:31:50.445Z,1758400310.445 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-09-20T20:31:50.445Z,1758400310.445 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-20T20:31:50.446Z,1758400310.446 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-09-20T20:31:50.447Z,1758400310.447 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-09-20T20:31:50.448Z,1758400310.448 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-09-20T20:31:50.448Z,1758400310.448 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-09-20T20:31:50.448Z,1758400310.448 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-20T20:31:50.448Z,1758400310.448 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-09-20T20:31:50.448Z,1758400310.448 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-20T20:31:50.448Z,1758400310.448 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-09-20T20:31:50.449Z,1758400310.449 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-09-20T20:31:50.450Z,1758400310.450 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-20T20:31:50.451Z,1758400310.451 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-09-20T20:31:50.451Z,1758400310.451 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-09-20T20:31:50.451Z,1758400310.451 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-09-20T20:31:50.451Z,1758400310.451 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-09-20T20:31:50.451Z,1758400310.451 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:J.] Running Loop=1
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:PeriodicCheck] Running Loop=1
2025-09-20T20:31:50.452Z,1758400310.452 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-09-20T20:31:50.453Z,1758400310.453 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-09-20T20:31:50.453Z,1758400310.453 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-09-20T20:31:50.453Z,1758400310.453 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-09-20T20:31:50.453Z,1758400310.453 [OnDock:B] Running Loop=1
2025-09-20T20:31:50.454Z,1758400310.454 [OnDock:PeriodicCheck] Running Loop=1
2025-09-20T20:31:50.454Z,1758400310.454 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-09-20T20:31:50.454Z,1758400310.454 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-09-20T20:31:50.454Z,1758400310.454 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-09-20T20:31:50.454Z,1758400310.454 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-09-20T20:31:50.454Z,1758400310.454 [OnDock:J.] Running Loop=1
2025-09-20T20:31:50.455Z,1758400310.455 [OnDock:J.](ERROR): Failed to read sound speed
2025-09-20T20:31:50.455Z,1758400310.455 [OnDock:science] Running Loop=1
2025-09-20T20:31:50.455Z,1758400310.455 [OnDock:science:Science] Running Loop=1
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-09-20T20:31:50.457Z,1758400310.457 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-09-20T20:31:50.458Z,1758400310.458 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-20T20:31:50.459Z,1758400310.459 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectOil] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-09-20T20:31:50.460Z,1758400310.460 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:PeakDetectChl] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-09-20T20:31:50.461Z,1758400310.461 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-09-20T20:31:50.462Z,1758400310.462 [OnDock:science:Science:Read_Oil] Stopped
2025-09-20T20:31:50.462Z,1758400310.462 [OnDock:science:Science:F] Stopped
2025-09-20T20:31:50.462Z,1758400310.462 [OnDock:science:Science:E] Running Loop=1
2025-09-20T20:31:50.463Z,1758400310.463 [OnDock:science:Science:E](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_chlorophyll_in_sea_water
2025-09-20T20:31:50.464Z,1758400310.464 [OnDock:science:Science:D] Stopped
2025-09-20T20:31:50.464Z,1758400310.464 [OnDock:science:Science:C] Running Loop=1
2025-09-20T20:31:50.464Z,1758400310.464 [OnDock:science:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2025-09-20T20:31:50.465Z,1758400310.465 [OnDock:science:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2025-09-20T20:31:50.465Z,1758400310.465 [OnDock:science:Science:B] Running Loop=1
2025-09-20T20:31:50.466Z,1758400310.466 [OnDock:science:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2025-09-20T20:31:50.466Z,1758400310.466 [OnDock:science:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2025-09-20T20:31:50.466Z,1758400310.466 [OnDock:science:Science:A] Stopped
2025-09-20T20:31:50.467Z,1758400310.467 [OnDock:dataRead] Running Loop=1
2025-09-20T20:31:50.484Z,1758400310.484 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-09-20T20:31:50.484Z,1758400310.484 [OnDock:PowerOnly] Running Loop=1
2025-09-20T20:31:50.484Z,1758400310.484 [OnDock:PowerOnly:D] Stopped
2025-09-20T20:31:50.484Z,1758400310.484 [OnDock:PowerOnly:C] Stopped
2025-09-20T20:31:50.485Z,1758400310.485 [OnDock:PowerOnly:B] Stopped
2025-09-20T20:31:50.485Z,1758400310.485 [OnDock:PowerOnly:A] Stopped
2025-09-20T20:31:50.485Z,1758400310.485 [OnDock:BackseatDriver] Running Loop=1
2025-09-20T20:31:50.486Z,1758400310.486 [OnDock:B] Stopped
2025-09-20T20:31:50.491Z,1758400310.491 [OnDock:C] Running Loop=1
2025-09-20T20:31:50.491Z,1758400310.491 [OnDock:StandardEnvelopes] Running Loop=1
2025-09-20T20:31:50.492Z,1758400310.492 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-09-20T20:31:50.493Z,1758400310.493 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-09-20T20:31:50.494Z,1758400310.494 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-09-20T20:31:50.550Z,1758400310.550 [CommandExec](IMPORTANT): got command ! ifconfig
2025-09-20T20:31:50.786Z,1758400310.786 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37
UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1
RX packets:2552 errors:0 dropped:0 overruns:0 frame:0
TX packets:3280 errors:0 dropped:0 overruns:0 carrier:0
collisions:29 txqueuelen:1000
RX bytes:1153708 (1.1 Mb) TX bytes:436762 (426.5 Kb)
Interrupt:29
lo Link encap:Local Loopback
inet addr:127.0.0.1 Mask:255.0.0.0
UP LOOPBACK RUNNING MULTICAST MTU:16436 Metric:1
RX packets:510 errors:0 dropped:0 overruns:0 frame:0
TX packets:510 errors:0 dropped:0 overruns:0 carrier:0
collisions:0 txqueuelen:0
RX bytes:42370 (41.3 Kb) TX bytes:42370 (41.3 Kb)
2025-09-20T20:31:51.324Z,1758400311.324 [OnDock:C] Stopped
2025-09-20T20:31:51.324Z,1758400311.324 [OnDock:D] Running Loop=1
2025-09-20T20:31:51.436Z,1758400311.436 [WetLabsBB2FL](INFO): Powering up
2025-09-20T20:31:51.665Z,1758400311.665 [OnDock:D] Stopped
2025-09-20T20:31:51.665Z,1758400311.665 [OnDock:E] Running Loop=1
2025-09-20T20:31:52.059Z,1758400312.059 [OnDock:E] Stopped
2025-09-20T20:31:52.059Z,1758400312.059 [OnDock:K] Running Loop=1
2025-09-20T20:31:52.436Z,1758400312.436 [OnDock:K](IMPORTANT): Restarting logs
2025-09-20T20:31:52.436Z,1758400312.436 [OnDock:K] Stopped
2025-09-20T20:31:52.436Z,1758400312.436 [OnDock:L.Execute] Running Loop=1